Resilient Centerpoint-Based Vector Consensus Protocols Against Mobile Attacks

This paper addresses the resilient vector consensus problem in the presence of mobile attacks, where malicious attackers can dynamically move within the network, causing faulty behaviors in compromised agents. We introduce three representative mobile attack models drawn from distributed computing literature and propose secure protocols for state updates of agents. Central to our approach is a centerpoint-based data aggregation algorithm, whereby each non-malicious agent updates its local value to the centerpoint of the values received from its neighboring agents. By restricting an upper bound on the number of mobile attackers, we establish sufficient conditions on the communication topology, demonstrating how our method enhances network resilience compared to existing algorithms. Numerical examples are provided to illustrate the performance of the protocols.