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CHOICE COORDINATION WITH LIMITED FAILURE

DISTRIBUTED COMPUTING 1989年第2期3卷 61-72页

作者： BARNOY, A BENOR, M DOLEV, D HEBREW UNIV JERUSALEM DEPT COMP SCIJERUSALEMISRAEL STANFORD UNIV DEPT COMP SCISTANFORDCA 94305 IBM RES ALMADEN RES CTR K53SAN JOSECA 95120

The Choice Coordination Problem requiresn asynchronous processes to reach a common choice of one out ofk possible alternatives. Processes communicate viak shared variables. Up tot, t, of the processes may fail to operate by suddenly quitting the protocol. Rabin (1982) presented lower and upper bounds for the extreme caset=n?1. We present deterministic and randomized algorithms for arbitraryt using an alphabet of sizeO(t ²). A semi-synchronous model is also studied. A reduction to a consensus problem proves the necessity to assume some powerful atomic shared-memory operations.

关键词： Choice coordination Probabilistic versus deterministic algorithms resilient algorithms

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resilient Containment Control in Adversarial Environment

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IEEE TRANSACTIONS ON CONTROL OF NETWORK SYSTEMS 2020年第4期7卷 1951-1959页

作者： Yan, Jiaqi Wen, Changyun Nanyang Technol Univ Sch Elect & Elect Engn Singapore 639798 Singapore

This article considers the problem of containment control in an adversarial environment, where some of the agents might be misbehaving (or faulty). Despite the influence of network misbehaviors, the normal followers aim to move into the convex hull spanned by the normal leaders. Toward this goal, resilient containment control is investigated in this work. We propose secure protocols for both first-order and second-order systems, where each normal follower ignores the most extreme values in its neighborhood and modifies its state based on the remaining ones. Assuming that the number of malicious agents is locally upper bounded, sufficient conditions on the network topology are derived to guarantee the achievement of resilient containment. Numerical examples are also provided in the end to verify our theoretical results.

关键词： Protocols Control systems Security Network topology Distributed algorithms Standards Signal processing algorithms Containment control cybersecurity resilient algorithms robust graphs

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resilient Time-Varying Formation Tracking for Heterogeneous High-Order Multiagent Systems With Multiple Dynamic Leaders

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IEEE TRANSACTIONS ON CONTROL OF NETWORK SYSTEMS 2024年第1期11卷 89-100页

作者： Li, Jinsheng Dong, Xiwang Yu, Jianglong Li, Qingdong Ren, Zhang Sch Automat Sci & Elect Engn Beijing 100191 Peoples R China Beihang Univ Inst Artificial Intelligence Beijing 100191 Peoples R China

In this article, we investigate time-varying output formation tracking problems for heterogeneous multiagent systems in an adversarial environment, where both leaders and followers are vulnerable to cyber-attacks. Despite the presence of adversarial agents, the normal followers not suffering from cyber-attacks seek to achieve a desired formation configuration and track a safe trajectory generated by normal leaders' outputs simultaneously. To this end, a resilient time-varying output formation (RTVOF) tracking scheme is presented in this work. First, to counteract the effect of adversarial agents, a safety strategy is proposed for general linear heterogeneous systems, which is a synthesis of the mean-subsequence-reduced family algorithms and an attack detection procedure. Second, using the neighboring interaction, a resilient distributed observer and a local formation controller are designed for each normal follower to estimate the state and track the output of the safe formation reference. Then, it is proved that the heterogeneous multiagent system with multiple dynamic leaders and time-varying topologies can accomplish the RTVOF tracking if specific graph-theoretic properties and formation feasibility conditions are satisfied. Finally, simulation examples are given to demonstrate the effectiveness of obtained results.

关键词： Adversarial agents heterogeneous high-order systems resilient algorithms time-varying output formation tracking time-varying topologies

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Exploiting data representation for fault tolerance

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JOURNAL OF COMPUTATIONAL SCIENCE 2016年 14卷 51-60页

作者： Elliott, J. Hoemmen, M. Mueller, F. North Carolina State Univ Dept Comp Sci Raleigh NC 27695 USA Sandia Natl Labs Ctr Res Comp POB 5800 Albuquerque NM 87185 USA

Incorrect computer hardware behavior may corrupt intermediate computations in numerical algorithms, possibly resulting in incorrect answers. Prior work models misbehaving hardware by randomly flipping bits in memory. We start by accepting this premise, and present an analytic model for the error introduced by a bit flip in an IEEE 754 floating-point number. We then relate this finding to the linear algebra concepts of normalization and matrix equilibration. In particular, we present a case study illustrating that normalizing both vector inputs of a dot product minimizes the probability of a single bit flip causing a large error in the dot product's result. Furthermore, the absolute error is either less than one or very large, which allows detection of large errors. Then, we apply this to the GMRES iterative solver. We count all possible errors that can be introduced through faults in arithmetic in the computationally intensive orthogonalization phase of GMRES, and show that when the matrix is equilibrated, the absolute error is bounded above by one. (C) 2016 Elsevier B.V. All rights reserved.

关键词： Algorithm-based fault tolerance resilient algorithms Numerical methods

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resilient Impulsive Control for Second-Order Consensus Under Malicious Nodes

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IEEE TRANSACTIONS ON CIRCUITS AND SYSTEMS II-EXPRESS BRIEFS 2021年第6期68卷 1962-1966页

作者： Yan, Jiaqi Wen, Changyun Liu, Xiao-Kang Xing, Lantao Nanyang Technol Univ Sch Elect & Elect Engn Singapore Singapore

In this brief, we investigate the problem of resilient consensus in continuous-time second-order networks, where some nodes might be faulty or adversarial. Despite the existence of such malicious and unexpected behaviors, the normal agents still aim to reach an agreement. Towards this end, a resilient impulsive algorithm is proposed, in which the signal transmission among agents occurs with aperiodic intervals. At each sampling time, the normal agent removes the most extreme values in the neighborhood and then derives its control signal with the remaining ones. We show the influence of the malicious nodes on the normal ones would be limited by this manner. Sufficient conditions related to the network topology and tolerable number of misbehaving nodes are finally established to achieve the resilient consensus.

关键词： Robustness Upper bound Consensus protocol Safety Circuit faults Second-order consensus resilient algorithms cyber security robust graph

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resilient multi-dimensional consensus in adversarial environment

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AUTOMATICA 2022年 145卷

作者： Yan, Jiaqi Li, Xiuxian Mo, Yilin Wen, Changyun Tsinghua Univ Dept Automation & BNRist Beijing Peoples R China Tongji Univ Inst Adv Study Coll Elect & Informat Engn Dept Control Sci & Engn Shanghai Peoples R China Tongji Univ Shanghai Res Inst Intelligent Autonomous Syst Shanghai Peoples R China Nanyang Technol Univ Sch Elect & Elect Engn Singapore Singapore

This paper considers the multi-dimensional consensus in networked systems, where some of the agents might be misbehaving (or faulty). Despite the influence of these misbehaviors, the benign agents aim to reach an agreement while avoiding being seriously influenced by the faulty ones. To this end, this paper first considers a general class of consensus algorithms, where each benign agent computes an "auxiliary point" based on the received values and moves its state towards this point. Concerning this generic form, we present conditions for achieving resilient consensus and obtain a lower bound on the exponential convergence rate. Assuming that the number of malicious agents is upper bounded, two specific resilient consensus algorithms are further developed based on the obtained conditions. Particularly, the first solution, based on Helly's Theorem, achieves the consensus within the convex hull formed by the benign agents' initial states, where the auxiliary point can be efficiently computed through linear programming. On the other hand, the second algorithm serves as a "built-in" security guarantee for standard average consensus algorithms, in the sense that its performance coincides exactly with that of the standard ones in the absence of faulty nodes while also resisting the serious influence of the misbehaving ones in adversarial environment. Some numerical examples are provided in the end to verify the theoretical results. (C) 2022 Elsevier Ltd. All rights reserved.

关键词： resilient algorithms Robust graphs Multi-dimensional systems

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resilient output regulation in heterogeneous networked systems under Byzantine agents

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AUTOMATICA 2021年 133卷 109872-109872页

作者： Yan, Jiaqi Deng, Chao Wen, Changyun Nanyang Technol Univ Sch Elect & Elect Engn Singapore Singapore Nanjing Univ Posts & Telecommun Inst Adv Technol Nanjing 210023 Peoples R China

In this paper, we consider the problem of output regulation in heterogeneous networked systems. In order to cooperatively achieve the global objective, each agent is required to share information in its neighborhood through communication channels, which might be exposed to malicious cyber attacks. Past work shows that the performance of cooperative control can be seriously affected by network misbehaviors. Inspired by such security concerns, this paper considers the resilient cooperative output regulation (COR) in adversarial environment. Despite the presence of so-called Byzantine agents, the normally behaving ones still aim to achieve the goal of trajectory tracking or disturbance rejection. Towards this end, resilient observers with low computational cost are first developed based on a continuous-time resilient consensus protocol. When the number of Byzantine nodes is locally upper bounded and the network structure satisfies certain robustness properties, the designed observers enable each benign agent to exponentially track the exogenous signal. After that, decentralized controllers are proposed facilitating the achievement of resilient COR in the heterogeneous networks. A numerical example is finally given to illustrate the effectiveness of our approach. (C) 2021 Elsevier Ltd. All rights reserved.

关键词： Cooperative output regulation resilient algorithms Byzantine agents

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