Collision-Free Coordination of Heterogeneous Multiagent Systems Under Independent DoS Attacks

Area of Science:

• Robotics and Control Systems
• Network Security

Background:

• Heterogeneous multiagent systems (MASs) face collision risks.
• Independent denial-of-service (DoS) attacks disrupt agent communication, causing unsynchronized states and poor collision avoidance decisions.

Purpose of the Study:

• To investigate collision avoidance coordination for MASs under independent DoS attacks.
• To develop strategies for managing communication interruptions and ensuring safety.

Main Methods:

• A predictor-based event-triggered communication strategy was developed.
• A hierarchical control architecture with a dynamic compensator and barrier function was designed.
• Simulations were conducted on unmanned aerial vehicles (UAVs).

Main Results:

• The proposed strategy effectively managed network communication during DoS attacks.
• The control architecture ensured collision avoidance in multiagent formations.
• Simulations demonstrated successful leader-following coordination and interformation collision avoidance for UAVs.

Conclusions:

• The developed methods provide robust collision avoidance for MASs facing independent DoS attacks.
• The approach is effective in maintaining coordination and safety in dynamic environments.
• This research contributes to secure and reliable multiagent system operations.