Resilience for Distributed Consensus with Constraints

This paper proposes a new approach that enables multi-agent systems to achieve resilient \textit{constrained} consensus in the presence of Byzantine attacks, in contrast to existing literature that is only applicable for unconstrained resilient consensus problems. The key enabler for our approach is a new device called a $(\gamma_i,\alpha_i)$-resilient convex combination, which allows normal agents in the network to utilize their locally available information to automatically isolate the impact of the Byzantine agents. Such a resilient convex combination is computable through linear programming, whose complexity scales well with the size of the overall system. By applying this new device to multi-agent systems, we introduce network and constraint redundancy conditions under which resilient constrained consensus can be achieved with an exponential convergence rate. We also provide insights on the design of a network such that the redundancy conditions are satisfied. Finally, numerical simulations and an example of safe multi-agent learning are provided to demonstrate the effectiveness of the proposed results.