Self-Triggered Ternary Control for Resilient Consensus against Mobile Adversarial Agents

In this paper, we consider the problem of multi-agent consensus in the presence of mobile adversaries. Faulty agents try to prevent the coordination among the regular agents and moreover are mobile in the sense that they can change their identities over time. Our approach towards resilient consensus is to extend the so-called mean subsequence reduced (MSR) algorithms to reduce the necessary communication based on two measures: The information exchanged by the agents takes the form of ternary data in each message and furthermore self-triggered method is used to keep the transmission frequency limited. Certain features are introduced to address issues specific to the mobile nature of the adversarial agents. We verify the effectiveness of the proposed algorithm by means of a numerical example.