Self-triggered network coordination over noisy communication channels

This paper studies network coordination over noisy communication channels. The communication between network nodes is corrupted by unknown but bounded noises, which may arise from low-quality channels and/or malicious attacks in the form of data manipulation. We propose a novel coordination scheme, which ensures practical consensus in the noiseless case, while preserving boundedness and coordination properties in the noisy case. The proposed scheme does not require any global information about the network parameters and/or the operating environment (the noise characteristics). Moreover, the communication between nodes occurs only at discrete time instants, and nodes can sample independently and in an a periodic manner, which renders the scheme suitable for practical implementation in distributed sensor networks.