2,226 research outputs found
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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