Consensus on compact Riemannian manifolds

Abstract

In view of a fact that compact manifolds have the important application in practice, this paper provides a local consensus protocol for connected compact Riemannian manifolds, where communication network can be directed and dynamically switching. Meanwhile, with the help of the compression-decompression functions, we extend the local protocol and propose a global consensus algorithm for such manifolds. Furthermore, to demonstrate their effectiveness and efficiency, the global algorithm is applied to the consensus problem of rotation attitudes, together with a case simulation. © 2013 Elsevier Inc. All rights reserved.