Distributed Anonymous Mobile Robots: Formation of Geometric Patterns
SIAM Journal on Computing
Distributed Algorithms
Fault-Tolerant Gathering Algorithms for Autonomous Mobile Robots
SIAM Journal on Computing
A scheme for robust distributed sensor fusion based on average consensus
IPSN '05 Proceedings of the 4th international symposium on Information processing in sensor networks
Approximate distributed Kalman filtering in sensor networks with quantifiable performance
IPSN '05 Proceedings of the 4th international symposium on Information processing in sensor networks
Self-stabilizing robot formations over unreliable networks
ACM Transactions on Autonomous and Adaptive Systems (TAAS)
Set-Theoretic Methods in Control
Set-Theoretic Methods in Control
Byzantine Convergence in Robot Networks: The Price of Asynchrony
OPODIS '09 Proceedings of the 13th International Conference on Principles of Distributed Systems
Dynamic distributed intrusion detection for secure multi-robot systems
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Power-delay analysis of consensus algorithms on wireless networks with interference
International Journal of Systems, Control and Communications
Decentralized Cooperative Policy for Conflict Resolution in Multivehicle Systems
IEEE Transactions on Robotics
Survey paper: Set invariance in control
Automatica (Journal of IFAC)
Consensus of multi-agent networks in the presence of adversaries using only local information
Proceedings of the 1st international conference on High Confidence Networked Systems
Low complexity resilient consensus in networked multi-agent systems with adversaries
Proceedings of the 15th ACM international conference on Hybrid Systems: Computation and Control
Iterative approximate byzantine consensus in arbitrary directed graphs
PODC '12 Proceedings of the 2012 ACM symposium on Principles of distributed computing
A sociologically inspired heuristic for optimization algorithms: A case study on ant systems
Expert Systems with Applications: An International Journal
Resilient synchronization in robust networked multi-agent systems
Proceedings of the 16th international conference on Hybrid systems: computation and control
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In the past decade, numerous consensus protocols for networked multi-agent systems have been proposed. Although some forms of robustness of these algorithms have been studied, reaching consensus securely in networked multi-agent systems, in spite of intrusions caused by malicious agents, or adversaries, has been largely underexplored. In this work, we consider a general model for adversaries in Euclidean space and introduce a consensus problem for networked multi-agent systems similar to the Byzantine consensus problem in distributed computing. We present the Adversarially Robust Consensus Protocol (ARC-P), which combines ideas from consensus algorithms that are resilient to Byzantine faults and from linear consensus protocols used for control and coordination of dynamic agents. We show that ARC-P solves the consensus problem in complete networks whenever there are more cooperative agents than adversaries. Finally, we illustrate the resilience of ARC-P to adversaries through simulations and compare ARC-P with a linear consensus protocol for networked multi-agent systems.