In continuous-time decentralized physical networks, standard Byzantine Fault Tolerance (BFT) protocols fail due to their reliance on synchronous communication and staticstatistical averaging. When adversarial nodes broadcast mathematically perfect but structurally false kinematic data in high-latency benthic environments, traditional consensus mechanisms institutionalize the error, dragging the honest swarm off course. This paper proposes a novel topological framework—Kinematic Consensus—designed specifically for autonomous submersibles operating in highly stochastic fluid dynamics. By substituting traditional Laplacian spatial averages with a strictly filtered, time-delayed stigmergic ledger, we mathematically guarantee the asymptotic isolation of adversarial agents. Furthermore, we introduce the Mercy Variable, a dynamic relaxation parameter embedded within the Control Lyapunov Function (CLF), teaching the system when to intuitively break its own cryptographic rules to ensure physical survival. We prove that the physical environment itself can be weaponized as a cryptographic ledger, silencing Byzantine nodes not by statistical consensus, but by kinematic impossibility.
Isaac The Architect (Tue,) studied this question.