Resilient randomized quantized consensus with delayed information

Dibaji, Seyed Mehran; Ishii, Hideaki; Tempo, Roberto

doi:10.1109/cdc.2016.7798795

“…The (2f + 1)-robustness as a sufficient condition is consistent with the resilient consensus problems in [9] and [13] for the real-valued agent cases with first-order and secondorder dynamics, respectively. However, these works consider consensus without any randomization in their updates.…”

Section: Proposition 54mentioning

confidence: 68%

“…It was first introduced by [24] for analysis of resilient consensus of real-valued first-order multi-agent systems. Related works include [9] which studied the case with delays in communication and [10], [13] for the case of agents with real-valued second-order dynamics. We use the more general notion of (r, s)-robust graphs, which plays an important role to obtain a tight necessary and sufficient condition.…”

Section: A Graph Theory Notionsmentioning

confidence: 99%

“…We introduce notions related to malicious agents and consensus in the presence of such agents [9], [10], [24]. Definition 2.3: Agent i is called normal if it updates its state based on the predefined control (4).…”

Section: Resiliency Notions and Algorithmmentioning

confidence: 99%

“…The algorithm is the quantized version of the weighted mean subsequence reduced (W-MSR) algorithm studied in [9], [24] and thus will be referred to as the QW-MSR algorithm. Using similar ideas, resilient consensus of second-order agent networks has been studied as well [10], [13].…”

Section: Definition 24mentioning

confidence: 99%

“…It is a measure of connectivity within a graph and characterizes how well groups within the network are connected via multiple paths. It was first introduced by [24] for resilient consensus in the real-valued states case with first-order agent dynamics and then was further explored in [9], [37]. The resilient approach has moreover been extended to networks with higher-order agents.…”

Section: Introductionmentioning

confidence: 99%

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Abstract-We consider the problem of multi-agent consensus where some agents are subject to faults/attacks and might make updates arbitrarily. The network consists of agents taking integervalued (i.e., quantized) states under directed communication links. The goal of the healthy normal agents is to form consensus in their state values, which may be disturbed by the non-normal, malicious agents. We develop update schemes to be equipped by the normal agents whose interactions are asynchronous and subject to non-uniform and time-varying time delays. In particular, we employ a variant of the so-called mean subsequence reduced (MSR) algorithms, which have been long studied in computer science, where each normal agent ignores extreme values from its neighbors. We solve the resilient quantized consensus problems in the presence of totally/locally bounded adversarial agents and provide necessary and sufficient conditions in terms of the connectivity notion of graph robustness. Furthermore, it will be shown that randomization is essential both in quantization and in the updating times when normal agents interact in an asynchronous manner. The results are examined through a numerical example.

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Stochastic communication protocols for multi-agent consensus under jamming attacks

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Ishii

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Tempo

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2018

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Abstract-We consider the problem of multi-agent consensus where some agents are subject to faults/attacks and might make updates arbitrarily. The network consists of agents taking integervalued (i.e., quantized) states under directed communication links. The goal of the healthy normal agents is to form consensus in their state values, which may be disturbed by the non-normal, malicious agents. We develop update schemes to be equipped by the normal agents whose interactions are asynchronous and subject to non-uniform and time-varying time delays. In particular, we employ a variant of the so-called mean subsequence reduced (MSR) algorithms, which have been long studied in computer science, where each normal agent ignores extreme values from its neighbors. We solve the resilient quantized consensus problems in the presence of totally/locally bounded adversarial agents and provide necessary and sufficient conditions in terms of the connectivity notion of graph robustness. Furthermore, it will be shown that randomization is essential both in quantization and in the updating times when normal agents interact in an asynchronous manner. The results are examined through a numerical example.

show abstract

Resilient randomized quantized consensus with delayed information

Cited by 6 publications

References 24 publications

Resilient randomized quantized consensus

Resilient randomized quantized consensus

Stochastic communication protocols for multi-agent consensus under jamming attacks

Resilient Randomized Quantized Consensus

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