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arXiv · 2504.03120

Distributed Resilience-Aware Control in Multi-Robot Networks

Haejoon Lee·Dimitra Panagou
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Abstract

Ensuring resilient consensus in multi-robot systems with misbehaving agents remains a challenge, as many existing network resilience properties are inherently combinatorial and globally defined. While previous works have proposed control laws to enhance or preserve resilience in multi-robot networks, they often assume a fixed topology with known resilience properties, or require global state knowledge. These assumptions may be impractical in physically-constrained environments, where safety and resilience requirements are conflicting, or when misbehaving agents share inaccurate state information. In this work, we propose a distributed control law that enables each robot to guarantee resilient consensus and safety during its navigation without fixed topologies using only locally available information. To this end, we establish a sufficient condition for resilient consensus in time-varying networks based on the degree of non-misbehaving or normal agents. Using this condition, we design a Control Barrier Function (CBF)-based controller that guarantees resilient consensus and collision avoidance without requiring estimates of global state and/or control actions of all other robots. Finally, we validate our method through simulations.

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BibTeXRIS

Haejoon Lee, Dimitra Panagou. 2025-04-04. Distributed Resilience-Aware Control in Multi-Robot Networks. https://arxiv.org/abs/2504.03120

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