28,804 research outputs found
Consensus Computation in Unreliable Networks: A System Theoretic Approach
This work 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 misbehavior detection and
identification problem into an unknown-input system theoretic framework. We
consider two extreme cases of misbehaving agents, namely faulty (non-colluding)
and malicious (Byzantine) agents. First, we characterize the set of inputs that
allow misbehaving agents to affect the consensus network while remaining
undetected and/or unidentified from certain observing agents. Second, we
provide worst-case bounds for the number of concurrent faulty or malicious
agents that can be detected and identified. Precisely, the consensus network
needs to be 2k+1 (resp. k+1) connected for k malicious (resp. faulty) agents to
be generically detectable and identifiable by every well behaving agent. Third,
we quantify the effect of undetectable inputs on the final consensus value.
Fourth, we design three algorithms to detect and identify misbehaving agents.
The first and the second algorithm apply fault detection techniques, and
affords complete detection and identification if global knowledge of the
network is available to each agent, at a high computational cost. The third
algorithm is designed to exploit the presence in the network of weakly
interconnected subparts, and provides local detection and identification of
misbehaving agents whose behavior deviates more than a threshold, which is
quantified in terms of the interconnection structure
On the genericity properties in networked estimation: Topology design and sensor placement
In this paper, we consider networked estimation of linear, discrete-time
dynamical systems monitored by a network of agents. In order to minimize the
power requirement at the (possibly, battery-operated) agents, we require that
the agents can exchange information with their neighbors only \emph{once per
dynamical system time-step}; in contrast to consensus-based estimation where
the agents exchange information until they reach a consensus. It can be
verified that with this restriction on information exchange, measurement fusion
alone results in an unbounded estimation error at every such agent that does
not have an observable set of measurements in its neighborhood. To over come
this challenge, state-estimate fusion has been proposed to recover the system
observability. However, we show that adding state-estimate fusion may not
recover observability when the system matrix is structured-rank (-rank)
deficient.
In this context, we characterize the state-estimate fusion and measurement
fusion under both full -rank and -rank deficient system matrices.Comment: submitted for IEEE journal publicatio
- …