Collision-Free Coordination of Heterogeneous Multiagent Systems Under Independent DoS Attacks

In this article, the problem of collision avoidance coordination for heterogeneous multiagent systems (MASs) subject to independent denial-of-service (DoS) attacks is investigated. Unlike the traditional attack model, the challenge posed by independent DoS attacks lies in their ability to disrupt communication channels individually, thereby causing each agent to perceive the states of its neighbors in an unsynchronized and inconsistent manner, which may lead to inaccurate or delayed collision avoidance decisions. To deal with the information interruption on collision avoidance coordination, a predictor-based event-triggered communication strategy is developed to manage the network communication between agents. In addition, a hierarchical control architecture with a dynamic compensator incorporating a barrier function is designed to address collision avoidance in multiagent formations. Finally, a simulation on unmanned aerial vehicles (UAVs) demonstrates that agents successfully reach leader-following coordination and maintain interformation collision avoidance, even under DoS attacks.