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Privacy-preserving has been crucial technique of multi-UAV systems, including cooperative detection, cooperative penetration and strike. Unprocessed interactive information poses a serious privacy threat to UAV swarm collaborative tasks. Considering not only privacy-preserving but also bandwidth constraints and the convergence performance of multi-UAV systems, this paper comprehensively proposes an original event-triggered-based finite-time privacy-preserving formation control scheme to resolve these three factors. Firstly, this paper adopted a local, deterministic, time-varying output mapping function for a privacy mask, which encodes the internal states of the UAV prior to its public transmission, and the initial true value of each UAV’s states is kept indecipherable for honest-but-curious UAVs and other malicious eavesdropping attackers. Then, considering the limited communication bandwidth and channels, we employed a distributed event-triggered strategy and deduced the triggering condition for consensus-based formation control, which effectively reduces the excessive consumption of communication and computational resources in contrast to time-triggered strategy. In terms of the convergence performance of the UAVs, finite-time stability theory was introduced to make the system reach the desired formation in finite time and obtain a settling time related to the initial state. Compared with the existing literature, this paper systematically took into account the above three factors for multi-UAV systems and provides a convergence analysis and a privacy analysis in detail. Finally, the effectiveness of the finite-time privacy-preserving protocol based on an event-triggered strategy was demonstrated by numerical simulation examples and comparative experiments. The proposed method achieves the formation control under privacy-preserving, improves the convergence rate and reduces the frequency of controller updates and information transmission.
Privacy-preserving has been crucial technique of multi-UAV systems, including cooperative detection, cooperative penetration and strike. Unprocessed interactive information poses a serious privacy threat to UAV swarm collaborative tasks. Considering not only privacy-preserving but also bandwidth constraints and the convergence performance of multi-UAV systems, this paper comprehensively proposes an original event-triggered-based finite-time privacy-preserving formation control scheme to resolve these three factors. Firstly, this paper adopted a local, deterministic, time-varying output mapping function for a privacy mask, which encodes the internal states of the UAV prior to its public transmission, and the initial true value of each UAV’s states is kept indecipherable for honest-but-curious UAVs and other malicious eavesdropping attackers. Then, considering the limited communication bandwidth and channels, we employed a distributed event-triggered strategy and deduced the triggering condition for consensus-based formation control, which effectively reduces the excessive consumption of communication and computational resources in contrast to time-triggered strategy. In terms of the convergence performance of the UAVs, finite-time stability theory was introduced to make the system reach the desired formation in finite time and obtain a settling time related to the initial state. Compared with the existing literature, this paper systematically took into account the above three factors for multi-UAV systems and provides a convergence analysis and a privacy analysis in detail. Finally, the effectiveness of the finite-time privacy-preserving protocol based on an event-triggered strategy was demonstrated by numerical simulation examples and comparative experiments. The proposed method achieves the formation control under privacy-preserving, improves the convergence rate and reduces the frequency of controller updates and information transmission.
In recent years, consensus algorithms have gained significant importance in the context of blockchain networks. These algorithms play a crucial role in allowing network participants to reach agreements on the state of the blockchain without needing a central authority. The present study focuses on carrying out a systematic mapping of these consensus algorithms to explore in detail their use, benefits, and challenges in the context of blockchain networks. Understanding consensus algorithms is essential to appreciating how blockchain networks achieve the reliability and integrity of their distributed ledgers. These algorithms allow network nodes to reach agreement on the validity of transactions and the creation of new blocks on the blockchain. In this sense, consensus algorithms are the engine that drives trust in these decentralized networks. Numerous authors have contributed to the development and understanding of consensus algorithms in the context of blockchain networks. This revolutionary concept paved the way for numerous cryptocurrencies and blockchain systems. Despite advances in this field, significant challenges remain: centralization, fair token distribution, scalability, and sustainability. The energy consumption of blockchain networks, particularly those using algorithms such as Proof of Work, Proof of Stake, Delegated Proof of Stake, Proof of Authority, and hybrid algorithms (Proof of Work/Proof of Stake), has raised concerns about their environmental impact, motivating the scientific and technological community to investigate more sustainable alternatives that promise to reduce energy consumption and contribute to climate change mitigation. Furthermore, interoperability between different blockchains and security in specific environments, such as IoT, are areas that still require significant research attention. This systematic mapping not only seeks to shed light on the current state of consensus algorithms in blockchain, but also their impact on sustainability, identifying those algorithms that, in addition to guaranteeing integrity and security, minimize the environmental footprint, promoting a more efficient use of energy resources, being a relevant approach in a context in which the adoption of sustainable technologies has become a global priority. Understanding and improving these algorithms are critical to unlocking the full potential of blockchain technology in a variety of applications and industry sectors.
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