Resilient Consensus in Open Multi-Agent Systems

The advancements in resilient consensus research largely relied on the assumption of a time-invariant agent set, limiting their applicability in dynamic environments. This paper extends the resilient consensus problem to a more dynamic setting by incorporating agent arrivals and departures, modeling an open multi-agent system. To ensure resilient consensus in such systems, we propose a novel algorithm that separately designs update schemes for cooperative remaining agents and newly joining agents. Furthermore, we establish and analyze the sufficient condition for resilient consensus under malicious attacks in open multi-agent systems. Numerical examples are provided to validate the effectiveness of our theoretical findings.