论文标题
对手检测和多代理系统的弹性控制
Adversary Detection and Resilient Control for Multi-Agent Systems
论文作者
论文摘要
本文介绍了在时空约束下针对多代理系统的对手检测机制和弹性控制框架。通常在所有代理商协作以确保所需的安全集的远期不变性的假设下，通常会解决多代理系统的安全性。这项工作根据某些行为指标分析了代理行为，并根据系统操作的关键区域概念设计了主动的对手检测机制。特别是，提出的检测机制不仅可以识别对抗剂，而且还确保了完整剂的历史安全性。然后，基于分析和检测结果，提出了基于QP的弹性控制器，以确保对完整剂的安全性和livice限制。仿真结果验证了所提出的理论贡献的功效。
This paper presents an adversary detection mechanism and a resilient control framework for multi-agent systems under spatiotemporal constraints. Safety in multi-agent systems is typically addressed under the assumption that all agents collaborate to ensure the forward invariance of a desired safe set. This work analyzes agent behaviors based on certain behavior metrics, and designs a proactive adversary detection mechanism based on the notion of the critical region for the system operation. In particular, the presented detection mechanism not only identifies adversarial agents, but also ensures all-time safety for intact agents. Then, based on the analysis and detection results, a resilient QP-based controller is presented to ensure safety and liveness constraints for intact agents. Simulation results validate the efficacy of the presented theoretical contributions.
