Consensus Computation in Unreliable Networks: A System Theoretic Approach

@article{Pasqualetti2012ConsensusCI,
  title={Consensus Computation in Unreliable Networks: A System Theoretic Approach},
  author={Fabio Pasqualetti and Antonio Bicchi and Francesco Bullo},
  journal={IEEE Transactions on Automatic Control},
  year={2012},
  volume={57},
  pages={90-104}
}
This paper addresses the problem of ensuring trustworthy computation in a linear consensus network. A solution to this problem is relevant for several tasks in multi-agent systems including motion coordination, clock synchronization, and cooperative estimation. In a linear consensus network, we allow for the presence of misbehaving agents, whose behavior deviate from the nominal consensus evolution. We model misbehaviors as unknown and unmeasurable inputs affecting the network, and we cast the… CONTINUE READING
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