相关论文: Resilient Consensus via Voronoi Communication Grap…

We consider the problem of solving consensus using deterministic algorithms in a synchronous dynamic network with unreliable, directional point-to-point links, which are under the control of a message adversary. In contrast to a large body…

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.…

In multi-task adversarial networks, the accurate estimation of unknown parameters in a distributed algorithm is hindered by attacked nodes or links. To tackle this challenge, this brief proposes a low-communication resilient distributed…

We propose an algorithm for average consensus over a directed graph which is both fully asynchronous and robust to unreliable communications. We show its convergence to the average, while allowing for slowly growing but potentially…

Collaborating teams of robots show promise due in their ability to complete missions more efficiently and with improved robustness, attributes that are particularly useful for systems operating in marine environments. A key issue is how to…

We study convergence properties of a randomized consensus algorithm over a graph with both attractive and repulsive links. At each time instant, a node is randomly selected to interact with a random neighbor. Depending on if the link…

Robot swarms require cohesive collective behaviour to address diverse challenges, including shape formation and decision-making. Existing approaches often treat consensus in discrete and continuous decision spaces as distinct problems. We…

Several algorithms in prior literature have been proposed which guarantee consensus of normally behaving agents in a network that may contain adversarially behaving agents. These algorithms guarantee that the consensus value lies within the…

A generalized family of Adversary Robust Consensus protocols is proposed and analyzed. These are distributed algorithms for multi-agents systems seeking to agree on a common value of a shared variable, even in the presence of faulty or…

Motivated by applications in machine learning and statistics, we study distributed optimization problems over a network of processors, where the goal is to optimize a global objective composed of a sum of local functions. In these problems,…

The Weighted-Mean Subsequence Reduced (W-MSR) algorithm, the state-of-the-art method for Byzantine-resilient design of decentralized multi-robot systems, is based on discarding outliers received over Linear Consensus Protocol (LCP).…

Connectivity of wireless sensor networks (WSNs) is a fundamental global property expected to be maintained even though some sensor nodes are at fault. In this paper, we investigate the connectivity of random geometric graphs (RGGs) in the…

Distributed control increases system scalability, flexibility, and redundancy. Foundational to such decentralisation is consensus formation, by which decision-making and coordination are achieved. However, decentralised multi-agent systems…

This paper proposes two algorithms, namely "back-tracking" and "history following", to reach consensus in case of communication loss for a network of distributed agents with switching topologies. To reach consensus in distributed control,…

In this paper, we provide a theoretical analysis for nonlinear discontinuous consensus protocols in networks of multiagents over weighted directed graphs. By integrating the analytic tools from nonsmooth stability analysis and graph theory,…

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…

Distributed estimation in interconnected systems has gained increasing attention due to its relevance in diverse applications such as sensor networks, autonomous vehicles, and cloud computing. In real practice, the sensor network may suffer…

WSNs can be considered a distributed control system designed to react to sensor information with an effective and timely action. For this reason, in WSNs it is important to provide real-time coordination and communication to guarantee…

The notions of $r$-robustness and $(r,s)$-robustness of a network have been earlier introduced in the literature to achieve resilient consensus in the presence of misbehaving agents. However, while higher robustness levels enable networks…

Applications of safety, security, and rescue in robotics, such as multi-robot target tracking, involve the execution of information acquisition tasks by teams of mobile robots. However, in failure-prone or adversarial environments, robots…