HARQ-based Quantized Average Consensus over Unreliable Directed Network Topologies

Abstract

In this paper, we propose a distributed algorithm (herein called HARQ-QAC) that enables nodes to calculate the average of their initial states by exchanging quantized messages over a directed communication network. In our setting, we assume that our communication network consists of unreliable communication links i.e., links suffering from packet drops). For countering link unreliability our algorithm leverages narrowband error-free feedback channels for acknowledging whether a packet transmission between nodes was successful. Additionally, we show that the feedback channels play a crucial role in enabling our algorithm to exhibit finite-time convergence. We analyze our algorithm and demonstrate its operation via an example, where we illustrate its operational advantages. Finally, simulations corroborate that our proposed algorithm converges to the average of the initial quantized values in a finite number of steps, despite the packet losses. This is the first quantized consensus algorithm in the literature that can handle packet losses and converge to the average. Additionally, the use of the retransmission mechanism allows for accelerating the convergence.