Finite-time consensus on the median value by discontinuous control

Franceschelli, Mauro; Giua, Alessandro; Pisano, Alessandro

doi:10.1109/acc.2014.6859201

Cited by 21 publications

(10 citation statements)

References 23 publications

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“…In [33] the authors introduced a distributed protocol for a second order multi-agent system able to reach consensus in finite-time under the presence of bounded disturbances while also maintaining the initial topology. A finite-time consensus on the median value is analyzed in [36], [39] where the authors showed that the proposed protocol is also robust to uncooperative agents if the network possesses a topological property known as k-safety.…”

Section: A Literature Reviewmentioning

confidence: 99%

Dynamic Resilient Containment Control in Multirobot Systems

2022

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In this paper we study the dynamic resilient containment control problem for continuous-time multi-robot systems (MRSs), i.e., the problem of designing a local interaction protocol that drives a set of robots, namely the followers, toward a region delimited by the positions of another set of robots, namely the leaders, under the presence of adversarial robots in the network. In our setting, all robots are anonymous, i.e., they do not recognize the identity or class of other robots. We consider as adversarial all those robots that intentionally or accidentally try to disrupt the objective of the multi-robot system, e.g., robots that are being hijacked by a cyber-physical attack or have experienced a fault. Under specific topological conditions defined by the notion of (r,s)-robustness, our control strategy is proven to be successful in driving the followers toward the target region, namely a hypercube, in finite-time. It is also proven that the followers cannot escape the moving containment area despite the persistent influence of anonymous adversarial robots. Numerical results with a team of 44 robots are provided to corroborate the theoretical findings.

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Section: A Literature Reviewmentioning

confidence: 99%

Dynamic Resilient Containment Control in Multirobot Systems

2022

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“…To reduce complexity, in Tumova & Dimarogonas, 2015, summaries of independent movements of individual agents are made; and, in Schillinger et al, 2016, a way to identify independent parts of a given mission is proposed as a finite LTL formula. Some works have proposed algorithmic solutions for movement planning problems in various scenarios, such as synthesis of high-level tasks (Guo & Dimarogonas, 2015a,Kloetzer & Mahulea, 2015, consensus problems (Aragues et al, 2012,Franceschelli et al, 2014, and leading follower (Garrido et al, 2013).…”

Section: Introductionmentioning

confidence: 99%

Metodología para la síntesis de autómatas en la planificación de movimientos en sistemas autónomos con múltiples agentes

Valencia

Londoño

Vanegas

2021

Tecnura

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Objetivo: Presentar una metodología para la planificación de movimientos de sistemas autónomos con múltiples agentes. Metodología: Se define y parametriza el comportamiento físico de un equipo de sistemas de navegación autónoma, luego se describe e implementa un algoritmo de síntesis de políticas de control que interpreta estas descripciones convertidas a fórmulas LTL y se genera un modelo que permite hacer abstracciones automáticas. A partir de configuraciones genéricas de solución, se deriva en el caso de múltiples robots con una única tarea en un entorno con obstáculos fijos. La metodología se valida en diferentes escenarios y se analizan los resultados. Resultados: La metodología propuesta para planificación de movimientos en sistemas con múltiples agentes, combina dos técnicas del estado del arte, permitiendo mitigar la explosión combinacional de estados presente en los enfoques tradicionales. Conclusiones: La metodología que se presenta resuelve el problema de síntesis de autómatas para el control de alto nivel, con cambio de tareas durante la ejecución. Bajo ciertos criterios, se mitiga el problema de explosión combinacional de estados asociado a estos sistemas. La solución es óptima respecto al número de transiciones seguidas por los miembros del equipo. Financiamiento: Universidad Tecnológica de Pereira

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“…There is relatively little work that treats finite-time consensus in the presence of adversarial agents. Some examples include the excellent results in [17], [18]. However, in [17] it is assumed that only the initial conditions of certain agents are faulty, with all agents applying the nominally specified control protocol.…”

Section: Introductionmentioning

confidence: 99%

“…Some examples include the excellent results in [17], [18]. However, in [17] it is assumed that only the initial conditions of certain agents are faulty, with all agents applying the nominally specified control protocol. In contrast, Byzantine adversaries may apply an arbitrary control protocol at any instant subsequent to the initial time.…”

Section: Introductionmentioning

confidence: 99%

Resilient Finite Time Consensus: A Discontinuous Systems Perspective

Usevitch¹,

Panagou²

2020

Preprint

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Many algorithms have been proposed in prior literature to guarantee resilient multi-agent consensus in the presence of adversarial attacks or faults. The majority of prior work present excellent results that focus on discrete-time or discretized continuous-time systems. Fewer authors have explored applying similar resilient techniques to continuoustime systems without discretization. These prior works typically consider asymptotic convergence and make assumptions such as continuity of adversarial signals, the existence of a dwell time between switching instances for the system dynamics, or the existence of trusted agents that do not misbehave. In this paper, we expand the study of resilient continuous-time systems by removing many of these assumptions and using discontinuous systems theory to provide conditions for normally-behaving agents with nonlinear dynamics to achieve consensus in finite time despite the presence of adversarial agents.• We demonstrate that our analysis holds for the general F -local adversarial model on digraphs, which does not assume the presence of any trusted agents. This paper is organized as follows: Section II introduces the notation and problem formulation, Section III presents our main results, Section IV gives simulations demonstrating our method, and Section V gives a brief conclusion.

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Finite-time consensus on the median value by discontinuous control

Cited by 21 publications

References 23 publications

Dynamic Resilient Containment Control in Multirobot Systems

Dynamic Resilient Containment Control in Multirobot Systems

Metodología para la síntesis de autómatas en la planificación de movimientos en sistemas autónomos con múltiples agentes

Resilient Finite Time Consensus: A Discontinuous Systems Perspective

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