Resilient Quantized Consensus in Multi-Hop Relay Networks

Abstract

We study resilient quantized consensus in multi-agent systems, where some agents may malfunction. The network consists of agents taking integer-valued states, and the agents' communication is subject to asynchronous updates and time delays. We utilize the quantized weighted mean subsequence reduced algorithm where agents communicate with others through multi-hop relays. We prove necessary and sufficient conditions for our algorithm to achieve the objective under the malicious and Byzantine attack models. Our approach has tighter graph conditions compared to the one-hop algorithm and the flooding-based algorithms for binary consensus. Numerical examples verify the efficacy of our algorithm.