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—This paper addresses the problem of resilient in-network consensus in the presence of misbehaving nodes. Secure and fault-tolerant consensus algorithms typically assume knowledge of nonlocal information; however, this assumption is not suitable for large-scale dynamic networks. To remedy this, we focus on local strategies that provide resilience to faults(More)
This paper addresses the problem of resilient consensus in the presence of misbehaving nodes. Although it is typical to assume knowledge of at least some nonlocal information when studying secure and fault-tolerant consensus algorithms, this assumption is not suitable for large-scale dynamic networks. To remedy this, we emphasize the use of local strategies(More)
In this paper, we study the problem of reaching consensus asymptotically in the presence of adversary nodes whenever the network is asynchronous under a local broadcast model of communication. The type of adversary considered is omniscient and may collude with other adversaries to achieve the goal of disrupting consensus among the normal nodes. The main(More)
In the past decade, numerous consensus protocols for networked multi-agent systems have been proposed. Although some forms of robustness of these algorithms have been studied, reaching consensus securely in networked multi-agent systems, in spite of intrusions caused by malicious agents, or adversaries, has been largely underexplored. In this work, we(More)
Recently, many applications have arisen in distributed control that require consensus protocols. Concurrently, we have seen a proliferation of malicious attacks on large-scale distributed systems. Hence, there is a need for (i) consensus problems that take into consideration the presence of adversaries and specify correct behavior through appropriate(More)
Surveillance and convoy tracking applications often require groups of networked agents for redundancy and better coverage. An important goal upon deployment is to establish a formation around a target. Although there exist distributed algorithms using only local communication that achieve this goal, they typically ignore destabilizing effects resulting from(More)
— In this paper, we study the continuous-time consensus problem in the presence of adversaries. The networked multi-agent system is modeled as a switched system, where the normal agents have integrator dynamics and the switching signal determines the topology of the network. We consider several models of omniscient adversaries under the assumption that at(More)
— This paper presents a novel multi-rate digital-control system which preserves stability while providing robust-ness to time-delay and data loss. In addition, this architecture allows for high-order anti-aliasing filters to be included which do not adversely affect system stability. Therefore, it allows for improved noise-rejection and system performance(More)
The integration of physical systems through computing and networking has become pervasive, a trend now known as cyber-physical systems (CPS). Functionality in CPS emerges from the interaction of networked computational and physical objects. System design and integration are particularly challenging because fundamentally different physical and computational(More)