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Total Variation based Distributed Kalman Filtering for Resiliency Against Byzantines
Department of Electronic Systems, Norwegian University of Science and Technology, Trondheim, Norway.ORCID iD: 0000-0002-6476-0047
Linköping University, Faculty of Science & Engineering. Linköping University, Department of Science and Technology, Physics, Electronics and Mathematics.ORCID iD: 0000-0001-8145-7392
Department of Electronic Systems, Norwegian University of Science and Technology, Trondheim, Norway; Department of Signal Processing and Acoustics, Aalto University, Finland.ORCID iD: 0000-0003-0148-4724
2023 (English)In: IEEE Sensors Journal, ISSN 1530-437X, E-ISSN 1558-1748, Vol. 23, no 4, p. 4428-4238Article in journal (Refereed) Published
Abstract [en]

This paper proposes a distributed Kalman filter (DKF) with enhanced robustness against Byzantine adversaries. A Byzantine agent is a legitimate network agent that, unlike an honest agent, manipulates information before sharing it with neighbors to impair the overall system performance. In contrast to the literature, the DKF is modeled as a distributed optimization problem where resiliency against Byzantine agents is accomplished by employing a total variation (TV) penalty term. We utilize a distributed subgradient algorithm to compute the state estimate and error covariance matrix updates of the DKF. Additionally, we prove that the proposed suboptimal solution converges to a neighborhood of the optimal centralized solution of the Kalman filter (KF) with a bounded radius when Byzantine agents are present. Numerical simulations corroborate the theoretical findings and demonstrate the robustness of the proposed DKF against Byzantine attacks.

Place, publisher, year, edition, pages
Institute of Electrical and Electronics Engineers (IEEE), 2023. Vol. 23, no 4, p. 4428-4238
Keywords [en]
Multiagent network, Kalman filtering, Distributed optimization, Byzantine attack, attack robustness
National Category
Signal Processing Communication Systems
Identifiers
URN: urn:nbn:se:liu:diva-191015DOI: 10.1109/jsen.2022.3233700ISI: 000966036200001OAI: oai:DiVA.org:liu-191015DiVA, id: diva2:1726913
Funder
The Research Council of Norway
Note

Funding: Research Council of Norway

Available from: 2023-01-13 Created: 2023-01-13 Last updated: 2024-01-29Bibliographically approved

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