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This chapter proposes a resilient control strategy for autonomous agent platoons subject to false data injection attacks. We combine a distributed model predictive control scheme with an anomaly detector, proven to detect attacks in finite time using set-membership conditions. We introduce two countermeasures: one based on MPC feasibility and another on safe platoon reconfiguration. The effectiveness of this approach is demonstrated through a truck platoon simulation.

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A Resilient Distributed Architecture for UAV Leader–Follower Formations

  • 章节

  • 发表日期：

    2026年

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  • Salvatore Rosario Bassolillo,
  • Egidio D’Amato,
  • Domenico Famularo,
  • Immacolata Notaro,
  • Valerio Scordamaglia,
  • Francesco Tedesco

摘要

This chapter proposes a resilient control strategy for autonomous agent platoons subject to false data injection attacks. We combine a distributed model predictive control scheme with an anomaly detector, proven to detect attacks in finite time using set-membership conditions. We introduce two countermeasures: one based on MPC feasibility and another on safe platoon reconfiguration. The effectiveness of this approach is demonstrated through a truck platoon simulation.