We consider resilient versions of discrete-time multiagent consensus in the presence of faulty or even malicious agents in the network. In particular, we develop event-triggered update rules that can mitigate the influence of the malicious agents and, at the same time, reduce the communication. Each regular agent updates its state based on a given rule using its neighbors’ information. Only when the triggering condition is satisfied, the regular agents send their current states to their neighbors. Otherwise, the neighbors will continue to use the state received the last time. Assuming that a bound on the number of malicious nodes is known, we propose two update rules with event-triggered communication. They follow the so-called mean subsequence reduced-type algorithms and ignore values received from potentially malicious neighbors. We characterize the necessary connectivity in the network for the algorithms to perform correctly, which are stated in terms of the notion of graph robustness. A numerical example is provided to demonstrate the effectiveness of the proposed approach.

中文翻译：

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通过基于事件的通信实现弹性共识

在网络中存在故障甚至恶意代理的情况下，我们考虑离散时间多代理共识的弹性版本。特别是，我们开发了事件触发的更新规则，这些规则可以减轻恶意代理的影响，同时减少通信。每个常规代理都使用邻居的信息根据给定的规则更新其状态。仅当满足触发条件时，常规代理才将其当前状态发送给其邻居。否则，邻居将继续使用上次收到的状态。假设已知恶意节点数量的界限，我们提出了两个带有事件触发通信的更新规则。它们遵循所谓的均值子序列缩减类型算法，并且忽略从潜在恶意邻居接收到的值。我们描述了网络中算法正确执行所必需的连接性，这些连接性以图形鲁棒性的概念表示。提供了一个数值示例来证明所提出方法的有效性。