Modified Slotted ALOHA Protocol for Average Consensus Problem

To realize a consensus problem based on wireless communications, it is necessary to consider several constraints caused by the natures of wireless communications such as communication error, coverage, capacity, multi-user interference, half-duplex and so on. This work focuses on half-duplex constraint and multi-user interference for a consensus problem and proposes a new Slotted-ALOHA that changes the call-occurrence probability (COP) corresponding to the states of communication and control. Specially, we propose to control the COP based on the number of neighbor agents that can be estimated from the state of communication. And then, we further propose a control method considering the states of control and communication to improve the quality of control. Computer simulations show that the proposed system can achieve better quality of control and faster convergence performance compared to the case with fixed COP.