Resilient distributed state estimation with mobile agents: overcoming Byzantine adversaries, communication losses, and intermittent measurements
Resilient distributed state estimation with mobile agents: overcoming Byzantine adversaries, communication losses, and intermittent measurements
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DOI：
10.1007/s10514-018-9813-7
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发表时间：
2018-11
影响因子：
3.5
通讯作者：
A. Mitra;J. Richards;S. Bagchi;S. Sundaram
中科院分区：
文献类型：
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作者：
A. Mitra;J. Richards;S. Bagchi;S. Sundaram
环境监测、监视和巡逻中的应用通常需要移动代理网络来共同获取有关区域内静态或动态过程状态的信息。然而，这些移动代理网络也带来了各种挑战，包括动态过程的间歇性观察、由于移动性和数据包丢失而导致的通信链路丢失，以及某些代理可能出现恶意或错误行为。本文的主要贡献是开发了弹性的、完全分布式的、可证明正确的状态估计算法，该算法同时考虑了上述每个考虑因素，进而提供了一个用于推理动态、易失败和对抗环境中的状态估计问题的通用框架。具体来说，我们开发了一个简单的切换线性观察器来处理时变测量模型的问题，并开发了弹性过滤技术来处理受代理之间时变通信模式影响的最坏情况的对抗行为。我们的方法考虑了以确定性方式重复出现的通信模式以及由随机数据包丢失引起的模式。对于每个场景，我们确定了动力系统、巡逻、标称通信网络拓扑和故障模型的条件，以保证我们提出的技术的适用性。最后，我们通过详细的模拟来补充我们的理论结果，这些模拟说明了我们的算法在面临上述技术挑战时的有效性。
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. 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.