Trustworthy Distributed Average Consensus

Christoforos N. Hadjicostis, Alejandro D. Dominguez-Garcia

Research output: Chapter in Book/Report/Conference proceedingConference contribution


This paper proposes a distributed algorithm for average consensus in a multi-agent system under a fixed, possibly directed communication topology, in the presence of malicious agents (nodes) that may try to influence the average consensus value by manipulating their initial values and/or their updates in an arbitrary manner. The proposed algorithm is iterative and asymptotically converges to the average of the initial values of the non-malicious nodes (referred to as the average of the trustworthy nodes), as long as the underlying topology that describes the information exchange among the non-malicious nodes is strongly connected. The algorithm assumes that each node receives (at each iteration or periodically) side information about the trustworthiness of the other nodes, and it uses such trust assessments to determine whether or not to incorporate messages received from an in-neighbor or take into account, for its updates and transmissions, a particular out-neighbor. The algorithm allows the perceived trustworthiness of a node about another node to be asymmetric and to fluctuate during the iteration, and guarantees asymptotic convergence to the average of the trustworthy nodes, as long as the trust assessments for each non-malicious node eventually reflect correctly the status (malicious or non-malicious) of its neighboring nodes. Keywords: Distributed averaging, multi-agent systems, fault-tolerant consensus, resilience, trustworthy computation, trust values.

Original languageEnglish (US)
Title of host publication2022 IEEE 61st Conference on Decision and Control, CDC 2022
PublisherInstitute of Electrical and Electronics Engineers Inc.
Number of pages6
ISBN (Electronic)9781665467612
StatePublished - 2022
Externally publishedYes
Event61st IEEE Conference on Decision and Control, CDC 2022 - Cancun, Mexico
Duration: Dec 6 2022Dec 9 2022

Publication series

NameProceedings of the IEEE Conference on Decision and Control
ISSN (Print)0743-1546
ISSN (Electronic)2576-2370


Conference61st IEEE Conference on Decision and Control, CDC 2022

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modeling and Simulation
  • Control and Optimization


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