Dynamic Leader-Follower Consensus with Adversaries: A Multi-Hop Relay Approach

Within this area, resilient consensus problems have gained substantial attention across the disciplines of systems control, distributed computing, and robotics (Vaidya et al. (2012); Sundaram and Gharesifard (2018); Yu et al. (2022)). Here, the objective for the nonfaulty, normal agents is to reach consensus despite misbehaviors of adversarial agents. Existing resilient consensus algorithms are designed to ensure that normal agents reach consensus on a value within the convex hull of their initial states, e.g., Yuan and Ishii (2021, 2023); Yu et al. (2022). Meanwhile, numerous formation control and reliable broadcast problems require agents to reach consensus on a predetermined reference value, which may lie inside or outside that convex hull (Bullo et al. This work was supported in part by the National Natural Science Foundation of China under Grant 62403188 and in part by JSPS under Grants-in-Aid for Scientific Research Grant No. 22H01508 and 24K00844. The material in this paper was not presented at any conference.