Related papers: Multi-Hypotheses Navigation in Collaborative Local…
Autonomous robots relying on radio frequency (RF)-based localization such as global navigation satellite system (GNSS), ultra-wide band (UWB), and 5G integrated sensing and communication (ISAC) are vulnerable to spoofing and sensor…
We address the problem of distributed cooperative localization in wireless networks, i.e. nodes without prior position knowledge (agents) wish to determine their own positions. In non-cooperative approaches, positioning is only based on…
The problem of identifying regions of spatially interesting, different or adversarial behavior is inherent to many practical applications involving distributed multisensor systems. In this work, we develop a general framework stemming from…
This paper presents a novel approach for resilient distributed consensus in multiagent networks when dealing with adversarial agents imprecision in states observed by normal agents. Traditional resilient distributed consensus algorithms…
We study resilient quantized consensus in multi-agent systems, where some agents may malfunction. The network consists of agents taking integer-valued states, and the agents' communication is subject to asynchronous updates and time delays.…
Cooperative localization is fundamental to autonomous multirobot systems, but most algorithms couple inter-robot communication with observation, making these algorithms susceptible to failures in both communication and observation steps. To…
We consider the problem of sensor localization in a wireless network in a multipath environment, where time and angle of arrival information are available at each sensor. We propose a distributed algorithm based on belief propagation, which…
In this paper, we consider a multi-agent resilient consensus problem, where some of the nodes may behave maliciously. The approach is to equip all nodes with a scheme to detect neighboring nodes when they behave in an abnormal fashion. To…
In this paper, we first address adverse effects of cyber-physical attacks on distributed synchronization of multi-agent systems, by providing conditions under which an attacker can destabilize the underlying network, as well as another set…
We report two decentralized multi-agent cooperative localization algorithms in which, to reduce the communication cost, inter-agent state estimate correlations are not maintained but accounted for implicitly. In our first algorithm, to…
This work focuses on the problem of distributed optimization in multi-agent cyberphysical systems, where a legitimate agent's iterates are influenced both by the values it receives from potentially malicious neighboring agents, and by its…
Location-aware networks will introduce innovative services and applications for modern convenience, applied ocean sciences, and public safety. In this paper, we establish a hybrid method for model-based and data-driven inference. We…
We introduce a distributed, cooperative framework and method for Bayesian estimation and control in decentralized agent networks. Our framework combines joint estimation of time-varying global and local states with information-seeking…
This paper concerns the consensus and formation of a network of mobile autonomous agents in adversarial settings where a group of malicious (compromised) agents are subject to deception attacks. In addition, the communication network is…
As location-based applications become ubiquitous in emerging wireless networks, Location Verification Systems (LVS) are of growing importance. In this paper we propose, for the first time, a rigorous information-theoretic framework for an…
In this paper, we study the problem of resilient consensus for a multi-agent network where some of the nodes might be adversarial, attempting to prevent consensus by transmitting faulty values. Our approach is based on that of the so-called…
Typical cooperative multi-agent systems (MASs) exchange information to coordinate their motion in proximity-based control consensus schemes to complete a common objective. However, in the event of faults or cyber attacks to on-board…
Distributed diffusion is a powerful algorithm for multi-task state estimation which enables networked agents to interact with neighbors to process input data and diffuse information across the network. Compared to a centralized approach,…
Cyber-resilience is an increasing concern in developing autonomous navigation solutions for marine vessels. This paper scrutinizes cyber-resilience properties of marine navigation through a prism with three edges: multiple sensor…
In this paper, we study resilient distributed diffusion for multi-task estimation in the presence of adversaries where networked agents must estimate distinct but correlated states of interest by processing streaming data. We show that in…