Resilient distributed state estimation with mobile agents: overcoming Byzantine adversaries, communication losses, and intermittent measurements

Mitra, Aritra; Richards, John A.; Bagchi, Saurabh; Sundaram, Shreyas

doi:10.1007/s10514-018-9813-7

Title: Resilient distributed state estimation with mobile agents: overcoming Byzantine adversaries, communication losses, and intermittent measurements

Journal Article · 13 November 2018 · Autonomous Robots

DOI: https://doi.org/10.1007/s10514-018-9813-7 · OSTI ID:1485814

^[1]; Richards, John A. ^[2]; Bagchi, Saurabh ^[1]; Sundaram, Shreyas ^[1]

Purdue Univ., West Lafayette, IN (United States). School of Electrical and Computer Engineering
Sandia National Lab. (SNL-NM), Albuquerque, NM (United States)

Applications in environmental monitoring, surveillance and patrolling typically require a network of mobile agents to collectively gain information regarding the state of a static or dynamical process evolving over a region. However, these networks of mobile agents also introduce various challenges, including intermittent observations of the dynamical process, loss of communication links due to mobility and packet drops, and the potential for malicious or faulty behavior by some of the agents. The main contribution of this paper is the development of resilient, fully-distributed, and provably correct state estimation algorithms that simultaneously account for each of the above considerations, and in turn, offer a general framework for reasoning about state estimation problems in dynamic, failure-prone and adversarial environments. Specifically, we develop a simple switched linear observer for dealing with the issue of time-varying measurement models, and resilient filtering techniques for dealing with worst-case adversarial behavior subject to time-varying communication patterns among the agents. Here, our approach considers both communication patterns that recur in a deterministic manner, and patterns that are induced by random packet drops. For each scenario, we identify conditions on the dynamical system, the patrols, the nominal communication network topology, and the failure models that guarantee applicability of our proposed techniques. Finally, we complement our theoretical results with detailed simulations that illustrate the efficacy of our algorithms in the presence of the technical challenges described above.

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Research Organization:: Sandia National Laboratories (SNL-NM), Albuquerque, NM (United States)

Sponsoring Organization:: USDOE National Nuclear Security Administration (NNSA)

Grant/Contract Number:: AC04-94AL85000

OSTI ID:: 1485814

Report Number(s):: SAND--2018-3796J; SAND--2018-9348J; 670138

Journal Information:: Autonomous Robots, Journal Name: Autonomous Robots Journal Issue: 3 Vol. 43; ISSN 0929-5593

Publisher:: SpringerCopyright Statement

Country of Publication:: United States

Language:: English

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