Resilient Cooperative Source Seeking of Double-Integrator Multi-Robot Systems Under Deception Attacks
Weiming Fu, Jiahu Qin, Wei Xing Zheng, Yuhang Chen, Yu Kang
Abstract
The resilient cooperative source seeking problem of double-integrator multi-robot systems under d-local deception attacks is investigated. In this article, we first propose a resilient cooperative control algorithm and present a necessary and sufficient condition for its achievement of resilient consensus. Then, through applying the particle swarm optimization algorithm to the resilient cooperative control algorithm, a resilient cooperative source seeking algorithm is proposed. We show that this algorithm can solve the source seeking problems under d-local deception attacks with an additional potential of addressing the multiple local extrema case. Finally, the feasibility of the proposed algorithms is illustrated by simulation and experimental results.