Trust-Based Collaborative Control for Teams in Communication Networks
TEXAS UNIV AT ARLINGTON AUTOMATION AND ROBOTICS INST
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U.S. Army Training and Doctrine Command TRADOC Pamphlet 525-66 identifies Force Operating Capabilities required for the Army to fulfill its mission for a networked Warfighter concept. Two such capabilities are Battle Command and Battle-space Awareness for which there are expectations trust that networked nodes will perform in a certain manner given certain contexts. As an example, for battlefield or disaster area teams in a distributed network, trust is interpreted as a set of relations among the nodes participating in the network activities. Trust establishment in distributed communication networks such as mobile ad hoc networks MANETs, sensor networks and ubiquitous computing systems is considered to be more difficult than in traditional hierarchical structures such as the Internet and Wireless LANs centered on base-stations and access points. In this paper, we concentrate on trust establishment in self-organized, distributed and resource constrained networks. We model our trust establishment strategy as a bilinear local voting protocol and discuss its behavior, i.e. how trusts spreads in the distributed network, and analyze its convergence behavior based on algebraic graph theory. Then, we show how to incorporate trust into local networked control laws which yields two coupled systems, a bilinear trust dynamics coupled to a local control law. Different team behaviors will emerge automatically depending on the trust each node has for its neighbors. In this paper we give examples of the flocking and formation behavior of nodes in a distributed network.
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