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 201

Matrix Representation of Iterative Approximate Byzantine Consensus in Directed Graphs

This paper presents a proof of correctness of an iterative approximate Byzantine consensus (IABC) algorithm for directed graphs. The iterative algorithm allows fault- free nodes to reach approximate conensus despite the presence of up to f Byzantine faults. Necessary conditions on the underlying network graph for the existence of a correct IABC algorithm were shown in our recent work [15, 16]. [15] also analyzed a specific IABC algorithm and showed that it performs correctly in any network graph that satisfies the necessary condition, proving that the necessary condition is also sufficient. In this paper, we present an alternate proof of correctness of the IABC algorithm, using a familiar technique based on transition matrices [9, 3, 17, 19]. The key contribution of this paper is to exploit the following observation: for a given evolution of the state vector corresponding to the state of the fault-free nodes, many alternate state transition matrices may be chosen to model that evolution cor- rectly. For a given state evolution, we identify one approach to suitably "design" the transition matrices so that the standard tools for proving convergence can be applied to the Byzantine fault-tolerant algorithm as well. In particular, the transition matrix for each iteration is designed such that each row of the matrix contains a large enough number of elements that are bounded away from 0