Wireless Distributed Consensus for Connected Autonomous Systems

Connected critical autonomous systems (C-CASs) are envisioned to significantly change our life and work styles through emerging vertical applications, such as vehicles cooperative robots. However, the scale of connected nodes continues grow, their heterogeneity cybersecurity threats more eminent, conventional centralized communications decision-making methodology reaching limit. This article is first exploration a trustworthy fault-tolerant framework for C-CAS achieving hyperreliable global decision making in trustless environment, where sensors/nodes less reliable due either communication failure or local error (e.g., by sensing algorithm/AI, etc.). The proposed based on two iconic distributed consensus (DC) mechanisms: 1) practical Byzantine fault tolerance (PBFT) 2) Raft, under perception-initiative-consensus-action (PICA) protocol with wireless connections among nodes. We analytically derived reliability six different system models. other fundamental performance metrics, throughput latency, node scalability, gain also derived. These analytical results provide basic design guidelines DC (WDC) usage systems. show that WDC improves overall increasing number participating