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Impact of Network Topology on the Resilience of Vehicle Platoons
Department of Mechanical and Mechatronics Engineering, University of Waterloo, Waterloo, ON N2L 3G1, Canada..
School of Mathematics, Southeast University, Nanjing 210096, China, and also with the Delft Center for System and Control, Delft University of Technology, 2628 CD Delft, The Netherlands.
KTH, School of Electrical Engineering and Computer Science (EECS), Intelligent systems, Decision and Control Systems (Automatic Control).ORCID iD: 0000-0001-9940-5929
2022 (English)In: IEEE transactions on intelligent transportation systems (Print), ISSN 1524-9050, E-ISSN 1558-0016, Vol. 23, no 9, p. 15166-15177Article in journal (Refereed) Published
Abstract [en]

This paper presents a comprehensive study on the impact of information flow topologies on the resilience of distributed algorithms that are widely used for estimation and control in vehicle platoons. In the state of the art, the influence of information flow topology on both internal and string stability of vehicle platoons has been well studied. However, understanding the impact of information flow topology on cyber-security tasks, e.g., attack detection, resilient estimation and formation algorithms, is largely open. By means of a general graph theory framework, we study connectivity measures of several platoon topologies and we reveal how these measures affect the ability of distributed algorithms to reject communication disturbances, to detect cyber-attacks, and to be resilient against them. We show that the traditional platoon topologies relying on interaction with the nearest neighbor are very fragile with respect to performance and security criteria. On the other hand, appropriate platoon topologies, namely k-nearest neighbor topologies, are shown to fulfill desired security and performance levels. The framework we study covers undirected and directed topologies, ungrounded and grounded topologies, or topologies on a line and on a ring. We show that there is a trade-off in the network design between the robustness to disturbances and the resilience to adversarial actions. Theoretical results are validated via simulations.

Place, publisher, year, edition, pages
Institute of Electrical and Electronics Engineers (IEEE) , 2022. Vol. 23, no 9, p. 15166-15177
Keywords [en]
Connected vehicles, distributed algorithms., Estimation, graph theory, network connectivity, Network topology, Resilience, Resilience of vehicle platoons, Robustness, Security, Topology, Cybersecurity, Economic and social effects, Nearest neighbor search, Network security, Robustness (control systems), Connected vehicle, Distributed algorithm., Information flows, Resilience of vehicle platoon, Vehicle platoons, Vehicles
National Category
Other Mathematics Other Electrical Engineering, Electronic Engineering, Information Engineering
Identifiers
URN: urn:nbn:se:kth:diva-319612DOI: 10.1109/TITS.2021.3137826ISI: 000745449300001Scopus ID: 2-s2.0-85123356983OAI: oai:DiVA.org:kth-319612DiVA, id: diva2:1701305
Note

QC 20221005

Available from: 2022-10-05 Created: 2022-10-05 Last updated: 2022-10-05Bibliographically approved

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Johansson, Karl H.

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