Resilient synchronization of networked robotics systems with misbehaving nodes

• Main Author: Lim, Zhe Yee
• Other Authors: Wen Changyun
• Format: Final Year Project
• Language: English
• Published: Nanyang Technological University 2022
• Subjects: Engineering::Electrical and electronic engineering
• Online Access: https://hdl.handle.net/10356/157453
• Institution: Nanyang Technological University

Transforming into Industry 4.0, the application of robotics systems is expanded extensively and has been employed in various industries, including manufacturing, agriculture, healthcare, logistics and et cetera. Therefore, to control large-scale industrial robots efficiently, it is crucial to design and model Networked Robotics Systems (NRS) that is capable to communicate with each other wirelessly and most eminently cyber resilient to malicious attacks or breach. In this project, Adversarial Resilient Consensus Protocol (ARC-P) are reviewed as the distributed consensus algorithm for NRS in the presence of misbehaving nodes. The core idea of ARC-P is for each cooperative node to sort out the relative states of each of the adjacent nodes, remove suspicious values and sum the relative states as the input. ARC-P is used to formulate the misbehaving nodes problem to reach a consensus with a lower computational burden in comparison to the traditional consensus algorithm whereas ARC-P needs only local information.