Secure Coordination of Networked Robotic Systems with Adversarial Nodes

In this chapter, secure coordination problem of networked robotic systems with adversarial nodes is considered, where some robots are hacked and lost control. Unlike other chapters that consider DoS attacks, the malicious node attacks considered in this chapter are generally more harmful. To this end, a novel algorithm called norm-based resilient decision algorithm is proposed to exclude the impact of adversarial nodes. To ensure the coordination of networked robotic systems, the maximum number of adversarial agents related to the robustness of the communication network is given. Under the proposed resilient consensus algorithm, secure coordination is guaranteed with adversarial nodes. Then the proposed resilient controller is extended to static formation scenarios. Finally, the effectiveness of the proposed method is demonstrated through case studies. Compared to the existing results, the proposed algorithm can reduce computing resources by designing auxiliary vectors and converting them into scalars to remove extreme values.