A Self-Routing Protocol for Distributed Consensus on Logical Information

In this paper, we address decision making problems, depending on a set of input events, with networks of dynamic agents that have partial visibility of such events. Previous work by the authors proposed so-called logical consensus approach, by which a network of agents, that can exchange binary values representing their local estimates of the events, is able to reach a unique and consistent decision. The approach therein proposed is based on the construction of an iterative map, whose computation is centralized and guaranteed under suitable conditions on the input visibility and graph connectivity. Under the same conditions, we extend the approach in this work by allowing the construction of a logical linear consensus system that is globally stable in a fully distributed way. The effectiveness of the proposed method is showed through the real implementation of a wireless sensor network as a framework for the surveillance of an urban area.