Flocking control against the malicious agent

TL;DR

This paper presents a new geometric flocking control method to maintain swarm cohesion and contain malicious agents that falsify parameters, ensuring robustness against sabotage without removing the malicious agent.

Contribution

A hierarchical geometric configuration-based flocking control approach that detects and contains malicious agents in a swarm, enhancing robustness and security.

Findings

The method successfully contains malicious agents within the swarm.

The control approach maintains flock cohesion despite malicious interference.

Experimental results validate the effectiveness of the proposed control strategy.

Abstract

This paper investigates the flocking control of a swarm with a malicious agent that falsifies its controller parameters to cause collision, division, and escape of agents in the swarm. A novel geometric flocking condition is established by designing the configuration of the malicious agent and its neighbors, under which we propose a hierarchal geometric configuration-based flocking control method. To help detect the malicious agent, a parameter estimate mechanism is also provided. The proposed method can achieve the flocking control goal and meanwhile contain the malicious agent in the swarm without removing it. Experimental result shows the effectiveness of the theoretical result.