Privacy-preserving dynamic average consensus via state decomposition: case study on multi-robot formation control

DOI10.1016/J.AUTOMATICA.2022.110182zbMATH Open1485.93548arXiv2008.03182OpenAlexW3048284425MaRDI QIDQ2116653FDOQ2116653

Yongqiang Wang, Jian Chen, Zhaojian Li, Kaixiang Zhang, Ali Louati

Publication date: 18 March 2022

Published in: Automatica (Search for Journal in Brave)

Abstract: Dynamic average consensus is a decentralized control/estimation framework where a group of agents cooperatively track the average of local time-varying reference signals. In this paper, we develop a novel state decomposition-based privacy preservation scheme to protect the privacy of agents when sharing information with neighboring agents. Specifically, we first show that an external eavesdropper can successfully wiretap the reference signals of all agents in a conventional dynamic average consensus algorithm. To protect privacy against the eavesdropper, a state decomposition scheme is developed where the original state of each agent is decomposed into two sub-states: one succeeds the role of the original state in inter-node interactions, while the other sub-state only communicates with the first one and is invisible to other neighboring agents. Rigorous analyses are performed to show that 1) the proposed privacy scheme preserves the convergence of the average consensus; and 2) the privacy of the agents is protected such that an eavesdropper cannot discover the private reference signals with any guaranteed accuracy. The developed privacy-preserving dynamic average consensus framework is then applied to the formation control of multiple non-holonomic mobile robots, in which the efficacy of the scheme is demonstrated. Numerical simulation is provided to illustrate the effectiveness of the proposed approach.

Full work available at URL: https://arxiv.org/abs/2008.03182

zbMATH Keywords

privacy preservationdynamic average consensusnon-holonomic mobile robots

Mathematics Subject Classification ID

Nonholonomic systems related to the dynamics of a system of particles (70F25) Automated systems (robots, etc.) in control theory (93C85) Multi-agent systems (93A16) Consensus (93D50)

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Cited In (3)

• A new privacy-preserving average consensus algorithm with two-phase structure: applications to load sharing of microgrids
• Fake information mechanism based privacy-preserving average consensus
• A survey on privacy-preserving control and filtering of networked control systems

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