Achieving Consensus over Compact Submanifolds

Abstract

We consider the consensus problem in a decentralized network, focusing on a compact submanifold that acts as a nonconvex constraint set. By leveraging the proximal smoothness of the compact submanifold, which encompasses the local singleton property and the local Lipschitz continuity of the projection operator on the manifold, and establishing the connection between the projection operator and general retraction, we show that the Riemannian gradient descent with a unit step size has locally linear convergence if the network has a satisfactory level of connectivity. Moreover, based on the geometry of the compact submanifold, we prove that a convexity-like regularity condition, referred to as the restricted secant inequality, always holds in an explicitly characterized neighborhood around the solution set of the nonconvex consensus problem. By leveraging this restricted secant inequality and imposing a weaker connectivity requirement on the decentralized network, we present a comprehensive analysis of the linear convergence of the Riemannian gradient descent, taking into consideration appropriate initialization and step size. Furthermore, if the network is well connected, we demonstrate that the local Lipschitz continuity endowed by proximal smoothness is a sufficient condition for the restricted secant inequality, thus contributing to the local error bound. We believe that our established results will find more application in the consensus problems over a more general proximally smooth set. Numerical experiments are conducted to validate our theoretical findings.