论文标题
差异私人形成控制
Differentially Private Formation Control
论文作者
论文摘要
随着多代理系统的繁殖,对协调协议的需求不断增加,这些协议协议可以保护代理的敏感信息,同时允许它们协作。为了帮助满足这一需求,本文介绍了一个差异化的私有形成控制框架。代理的状态轨迹是使用差异隐私保护的,这是隐私的统计概念,可以通过向其添加噪声来保护数据。我们提供私人形成控制实施,并分析隐私对系统的影响。具体而言,我们量化了网络通信拓扑的隐私级别,系统性能和连接性之间的权衡。这些权衡用于制定根据控制理论数量(例如稳态错误)来校准隐私的准则,而无需深入了解差异隐私。还制定了其他准则,用于将隐私级别和网络拓扑作为设计参数来调整网络的性能。仿真结果说明了这些权衡,并表明严格的隐私与强大的系统性能固有地兼容。
As multi-agent systems proliferate, there is increasing demand for coordination protocols that protect agents' sensitive information while allowing them to collaborate. To help address this need, this paper presents a differentially private formation control framework. Agents' state trajectories are protected using differential privacy, which is a statistical notion of privacy that protects data by adding noise to it. We provide a private formation control implementation and analyze the impact of privacy upon the system. Specifically, we quantify tradeoffs between privacy level, system performance, and connectedness of the network's communication topology. These tradeoffs are used to develop guidelines for calibrating privacy in terms of control theoretic quantities, such as steady-state error, without requiring in-depth knowledge of differential privacy. Additional guidelines are also developed for treating privacy levels and network topologies as design parameters to tune the network's performance. Simulation results illustrate these tradeoffs and show that strict privacy is inherently compatible with strong system performance.