Related papers: Distributed Consensus Resilient to Both Crash Fail…
This note studies resilient coordination of networked multiagent systems in the presence of misbehaving agents, i.e., agents that are subject to adversaries modeled as exogenous disturbances. Apart from the existing relevant literature that…
This paper proposes a reliable learning-based adaptive control framework for nonlinear multi-agent systems (MASs) subject to Denial-of-Service (DoS) attacks and singular control gains, two critical challenges in cyber-physical systems. A…
We consider a multi-agent system where agents aim to achieve a consensus despite interactions with malicious agents that communicate misleading information. Physical channels supporting communication in cyberphysical systems offer…
As LLM agents are increasingly deployed in multi-agent systems, they introduce risks of covert coordination that may evade standard forms of human oversight. While linear probes on model activations have shown promise for detecting…
This paper addresses the problem of navigation control of a general class of 2nd order uncertain nonlinear multi-agent systems in a bounded workspace, which is a subset of $R^3$ , with static obstacles. In particular, we propose a…
We consider the joint design of control and scheduling under stochastic Denial-of-Service (DoS) attacks in the context of networked control systems. A sensor takes measurements of the system output and forwards its dynamic state estimates…
We study the problem of multi-agent control of a dynamical system with known dynamics and adversarial disturbances. Our study focuses on optimal control without centralized precomputed policies, but rather with adaptive control policies for…
This paper examines the structural controllability for a group of agents, called followers, connected to each other based on the consensus law under commands of multiple leaders, which are agents with superior capabilities, over a fixed…
Self-stabilization is an excellent approach for adding fault tolerance to a distributed multi-agent system. However, two properties of self-stabilization theory, convergence and closure, may not be satisfied if agents are selfish. To…
This paper focuses on the consensus and formation problems of multiagent systems under unknown persistent disturbances. Specifically, we propose a novel method that combines an existing consensus (or formation) algorithm with a new…
We consider strongly monotone games with convex separable coupling constraints, played by dynamical agents, in a partial-decision information scenario. We start by designing continuous-time fully distributed feedback controllers, based on…
We study distributed computation in synchronous dynamic networks where an omniscient adversary controls the unidirectional communication links. Its behavior is modeled as a sequence of directed graphs representing the active (i.e. timely)…
This technical note addresses the distributed fixed-time consensus protocol design problem for multi-agent systems with general linear dynamics over directed communication graphs. By using motion planning approaches, a class of distributed…
We tackle the problem of a set of agents achieving resilient consensus in the presence of attacked agents. We present a discrete-time reputation-based consensus algorithm for synchronous and asynchronous networks by developing a local…
In this paper we carry out a stability analysis of a distributed consensus algorithm in presence of link failures. The algorithm combines a new broadcast version of a Push-Sum algorithm, specifically designed for handling link failures,…
The problem of consensus in the presence of adversarially behaving agents has been studied extensively in the literature. The proposed algorithms typically guarantee that the consensus value lies within the convex hull of initial normal…
Achieving safety in autonomous multi-agent systems, particularly in time-critical tasks like rendezvous, is a critical challenge. In this paper, we propose a distributionally robust risk framework for analyzing cascading failures in…
The distributed dual ascent is an established algorithm to solve strongly convex multi-agent optimization problems with separable cost functions, in the presence of coupling constraints. In this paper, we study its asynchronous counterpart.…
In this paper, we introduce a novel adaptation of the Raft consensus algorithm for achieving emergent formation control in multi-agent systems with a single integrator dynamics. This strategy, dubbed "Rafting," enables robust cooperation…
In this paper we consider a network of processors aiming at cooperatively solving linear programming problems subject to uncertainty. Each node only knows a common cost function and its local uncertain constraint set. We propose a…