| Title | Reputation-Based Event-Triggered Formation Control and Leader Tracking with Resilience to Byzantine Adversaries |
| Publication Type | Conference Paper |
| Year of Publication | 2020 |
| Authors | Zegers, Federico M., Hale, Matthew T., Shea, John M., Dixon, Warren E. |
| Conference Name | 2020 American Control Conference (ACC) |
| Date Published | July 2020 |
| Publisher | IEEE |
| ISBN Number | 978-1-5386-8266-1 |
| Keywords | control theory, Detectors, Human Behavior, Loss measurement, multi-agent systems, Network topology, Nickel, pubcrawl, resilience, Resiliency, Scalability |
| Abstract | A distributed event-triggered controller is developed for formation control and leader tracking (FCLT) with robustness to adversarial Byzantine agents for a class of heterogeneous multi-agent systems (MASs). A reputation-based strategy is developed for each agent to detect Byzantine agent behaviors within their neighbor set and then selectively disregard Byzantine state information. Selectively ignoring Byzantine agents results in time-varying discontinuous changes to the network topology. Nonsmooth dynamics also result from the use of the event-triggered strategy enabling intermittent communication. Nonsmooth Lyapunov methods are used to prove stability and FCLT of the MAS consisting of the remaining cooperative agents. |
| URL | https://ieeexplore.ieee.org/document/9147996 |
| DOI | 10.23919/ACC45564.2020.9147996 |
| Citation Key | zegers_reputation-based_2020 |
Reputation-Based Event-Triggered Formation Control and Leader Tracking with Resilience to Byzantine Adversaries