Resilient Consensus with Distributed Fault Detection

Abstract

In this paper, we consider a multi-agent resilient consensus problem, where some of the nodes may behave maliciously. The approach is to equip all nodes with a scheme to detect neighboring nodes when they behave in an abnormal fashion. To this end, the nodes exchange not only their own states but also information regarding their neighbor nodes. It is shown that the detection scheme becomes effective by requiring certain connectivity properties in the network so that the non-malicious nodes can share enough information about their common neighbors. A numerical example is presented to demonstrate the efficiency of the proposed method.