Summary: On Corrective Consensus: Converging
to the Exact Average
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Computer Science Department
Center for Imaging Science
Johns Hopins University
Consensus algorithms provide an elegant, distributed way for com-
puting the average of a set of measurements across a sensor network.
However, the convergence of the node estimates to the global average
depends on the timely and reliable exchange of the measurements to
neighboring sensors. These assumptions are violated in practice due
to random packet losses, causing the estimated average to be biased.
In this paper, we present and analyze a practical consensus protocol
that overcomes these difficulties and assures convergence to the cor-
rect average. Simulation results show that the proposed corrective