5,160 research outputs found
Information Structure Design in Team Decision Problems
We consider a problem of information structure design in team decision
problems and team games. We propose simple, scalable greedy algorithms for
adding a set of extra information links to optimize team performance and
resilience to non-cooperative and adversarial agents. We show via a simple
counterexample that the set function mapping additional information links to
team performance is in general not supermodular. Although this implies that the
greedy algorithm is not accompanied by worst-case performance guarantees, we
illustrate through numerical experiments that it can produce effective and
often optimal or near optimal information structure modifications
Finite-Time Resilient Formation Control with Bounded Inputs
In this paper we consider the problem of a multi-agent system achieving a
formation in the presence of misbehaving or adversarial agents. We introduce a
novel continuous time resilient controller to guarantee that normally behaving
agents can converge to a formation with respect to a set of leaders. The
controller employs a norm-based filtering mechanism, and unlike most prior
algorithms, also incorporates input bounds. In addition, the controller is
shown to guarantee convergence in finite time. A sufficient condition for the
controller to guarantee convergence is shown to be a graph theoretical
structure which we denote as Resilient Directed Acyclic Graph (RDAG). Further,
we employ our filtering mechanism on a discrete time system which is shown to
have exponential convergence. Our results are demonstrated through simulations
Distributed convergence to Nash equilibria in two-network zero-sum games
This paper considers a class of strategic scenarios in which two networks of
agents have opposing objectives with regards to the optimization of a common
objective function. In the resulting zero-sum game, individual agents
collaborate with neighbors in their respective network and have only partial
knowledge of the state of the agents in the other network. For the case when
the interaction topology of each network is undirected, we synthesize a
distributed saddle-point strategy and establish its convergence to the Nash
equilibrium for the class of strictly concave-convex and locally Lipschitz
objective functions. We also show that this dynamics does not converge in
general if the topologies are directed. This justifies the introduction, in the
directed case, of a generalization of this distributed dynamics which we show
converges to the Nash equilibrium for the class of strictly concave-convex
differentiable functions with locally Lipschitz gradients. The technical
approach combines tools from algebraic graph theory, nonsmooth analysis,
set-valued dynamical systems, and game theory
Consensus of Multi-Agent Networks in the Presence of Adversaries Using Only Local Information
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 to deal with
resilience to security breaches. We study a consensus protocol that uses only
local information and we consider worst-case security breaches, where the
compromised nodes have full knowledge of the network and the intentions of the
other nodes. We provide necessary and sufficient conditions for the normal
nodes to reach consensus despite the influence of the malicious nodes under
different threat assumptions. These conditions are stated in terms of a novel
graph-theoretic property referred to as network robustness.Comment: This report contains the proofs of the results presented at HiCoNS
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