Distributed Estimation over Directed Graphs Resilient to Sensor Spoofing

This paper addresses the problem of distributed estimation an unknown dynamic parameter by a multi-agent system over directed communication network in presence adversarial attack on agents' sensors. The mode adversaries is to corrupt sensor measurements some agents, while and information processing capabilities those agents remain unaffected. To ensure that all both normal as well under attack, are able correctly estimate value, Resilient Estimation through Weight Balancing (REWB) algorithm introduced. only condition required for REWB guarantee resilient at any given point time, less than half total number attack. discusses development using concepts weight balancing graphs, consensus+innovations approach linear estimation. Numerical simulations presented illustrate performance our graphs different conditions attacks.