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DOE OSTI2022

Intelligent Process Visualization through Nuclear Operation Process Modeling, Reasoning, and Object Detection from Field Videos (Final Report)

This report is a deliverable for the “Final Report” task of DOE NEET Project 19-16790, "Context-Aware Safety Information Display for Nuclear Field Workers." This project's overall goal is to test the hypothesis that integrating computer vision and process reasoning methods will enable proactive visualization of the safe operation and maintenance processes of Nuclear Power Plants (NPP) for field workers. Augmented Reality (AR) glasses adopting such proactive safety information visualization techniques can significantly increase personnel safety and reduce the NPP’s operating costs. The current practice of monitoring NPPs requires workers to switch between digital models, data, and physical workspaces in identifying relevant but potentially occluded objects and in assessing the risks of operation and maintenance processes. On the other hand, frequently changed field conditions require field workers to report to supervisors for real-time guidance. Such guidance is essential to ensure that changing conditions will not invalidate or endanger the work order and other ongoing processes that may jeopardize NPP operations. Additionally, incorrect recognition of equipment objects can result in communication errors and safety problems. AR techniques can assist engineers in viewing the physical workspaces with objects labeled with detailed operation procedures and safety reminders during field operations. The project team developed an “Intelligent Context-Aware Safety Information Display” (ICAD) for supporting Nuclear Power Plant (NPP) field workers in achieving safe and efficient execution of a series of operational tasks in uncertain and changing workspaces of an NPP. Before designing the ICAD-AR prototype, the project team synthesized NPP operational knowledge models through literature review studies, surveys, interviews with domain experts, and knowledge modeling. The project team conducted an extensive study of the operational procedures of various NPPs, and digital technologies that can support the safe and efficient execution of those procedures in different NPP operational contexts. This literature review helped the project team conduct surveys and interviews with nuclear engineers and field workers to identify three categories of information. The NPP knowledge modeling efforts reveal that the three categories of information identified have different levels of importance in a typical procedure of carrying out a series of tasks to achieve a specific NPP operation goal (e.g., shutdown, mode changes). These three categories of information include 1) Workspace dynamics – the changing spatial arrangements of workspaces, tools, protection equipment, and supporting materials, 2) Workflow prognostics – the dynamic dependencies between different parts of an NPP that functionally support and influence each other in terms of safety and efficiency, and 3) Hazards – objects and spaces that contain hazardous materials or physical conditions that can pose risks to workers or mechanical systems. The project team has profiled the importance levels of these categories of information into a knowledge model. This knowledge model specifies what types of information are more critical for a given task in a given workspace so that computers can automatically identify critical objects and sensors in a scene for delivering context-ware safety information to field workers through AR devices. Significant research development of this project results in technical research outcomes and a prototyping system that illustrates the technical feasibility of establishing an ICAD-AR system supporting the proactive safety information display for nuclear field workers. This final report summarizes the project team’s technological achievements in the past three years. Overall, the project team completed the development and integration of five techniques into a prototype ICAD Augmented Reality (ICAD-AR) system and demonstrated the developed system’s real-time execution in a mechanical room. The project team completed the analysis of using this prototype in other types of workspaces based on 3D image data and digital design models collected from two additional workspaces (a water treatment plant and a flow loop training facility). The integrated techniques include 1) Natural Language Processing (NLP) algorithms supporting the generation and updates of nuclear fieldwork process models based on text analysis of work packages and operation manuals; 2) sensor log analysis for predicting control actions in given sensor reading contexts; 3) computer vision algorithms for automatic localization and navigation of workers; 4) object detection algorithms for identifying task-related objects and correlated sensors for safety checking; 5) AR technique as a platform for supporting the integration. The testing results of these five techniques have shown that 1) the sensor log analysis model can predict the next control action with an accuracy of 0.883; 2) the trained natural language processing model can extract more than 80% of the critical information from paper-based procedures (PBPs); 3) the navigation algorithm with the integration of Visual Inertial Odometry (VIO) and Non-Recursive Bayesian Filter methods make operator’s trajectory estimation resilient to drift error; 4) the computer vision algorithm can detect task-specific and safety-critical objects with an average accuracy of 95.3%. The project team used work procedures collected from a flow loop training facility and two datasets collected from two mechanical rooms simulating the workspaces of NPPs to demonstrate the technical capabilities of the developed ICAD-AR prototype. The demonstration validated the technical feasibility of establishing the ICAD-AR system for nuclear field workers and identified the challenges in 1) automatic text analysis of work packages; 2) use of limited samples of sensor logs for predicting the proper timings of control actions; 3) reliably tracking workers and their task progress in mechanical rooms with many similar objects.

22 GENERAL STUDIES OF NUCLEAR REACTORS↗

DOE OSTI2024

Peer-to-peer communication control for resilient operations of networked cyberphysical systems

This report includes two main accomplishments of the peer-to-peer communication control for resilient operation of networked microgrids project in FY24, which include a scheme for cyberattack-aware coordination of networked microgrids for supporting voltages of bulk power systems and a scheme for price signal-based operations of EV-rich networked microgrids with mixed ownership. First, the cyberattack-aware scheme enables networked microgrids to distributedly determine the amount of reactive power injection to support the voltage of bulk power system (BPS) in a fair manner. In this scheme, a risk-informed algorithm is presented to generate the peer-to- peer (P2P) communication graph with minimal risk of attack on communication links. To deal with cyberattacks on MG controllers, the resilient consensus algorithm (CA) is utilized for MG controllers to robustly estimate the total reactive power headroom, from which the MGs can accurately provide the needed amount of reactive power injection for supporting the voltage of BPS. The CA implementation and performance within the P2P communication framework are demonstrated on the IEEE 39-bus system with 6 microgrids contained in the distribution feeder under different cyberattack scenarios. Second, the price-based scheme enables the usage of the real-time price signal for the operations of electric vehicle (EV)-rich networked-microgrids with mixed ownership, in which not all the microgrids can communicate with the distribution system operator (DSO). In this scheme, a max consensus is introduced to enable the real-time price signal to be propagated from the DSO to all the microgrids, from which each microgrid controller will manage the DERs to balance the load demand and the power injection from the EV charging stations within its microgrid. Numerical results over one day with 288 slots of 5-minute intervals on the modified 123-node test feeder including 3 microgrids with high penetration of EV are presented to evaluate how the price signal affects the operations of networked microgrids under different charging strategies of the EV charging stations. The result indicates that our proposed EVCS (dis)charging strategy, which leverages the flexibility of EVs to support the grid through discharging during peak demand, proves to be a cost-effective solution that reduces operational costs while improving the social welfare of EV charging.

24 POWER TRANSMISSION AND DISTRIBUTION↗

DOE OSTI2020

Effects of Jacobian Matrix Regularization on the Detectability of Adversarial Samples

The well-known vulnerability of Deep Neural Networks to adversarial samples has led to a rapid cycle of increasingly sophisticated attack algorithms and proposed defenses. While most contemporary defenses have been shown to be vulnerable to carefully configured attacks, methods based on gradient regularization and out-of-distribution detection have attracted much interest recently by demonstrating higher resilience to a broad range of attack algorithms. However, no study has yet investigated the effect of combining these techniques. In this paper, we consider the effect of Jacobian matrix regularization on the detectability of adversarial samples on the CIFAR-10 image benchmark dataset. We find that regularization has a significant effect on detectability, and in some cases can make an undetectable attack on a baseline model detectable. In addition, we give evidence that regularization may mitigate the known weaknesses of detectors to high-confidence adversarial samples. The defenses we consider here are highly generalizable, and we believe they will be useful for further investigations to transfer machine learning robustness to other data domains.

45 MILITARY TECHNOLOGY, WEAPONRY, AND NATIONAL DEF↗

DOE OSTI2021

Planning for Resilient Power Distribution Systems using Risk-Based Quantification and Q-Learning

Grid hardening is one of the most effective approaches that reduce the component failures and restoration efforts thus increasing the resilience of the power systems against extreme events. However, hardening and upgrading the entire system is prohibitively expensive and hence the optimal design of a distribution network is challenging. This paper adopted a reinforcement learning algorithm to identify the optimal hardening strategy to enhance the resilience of power distribution systems. Adopting the Q-learning algorithm as the reinforcement learning technique, we found the sequential optimal action for hardening measures to enhance the grid's resilience for the given budget. To identify the optimal strategy through Q-learning, Conditional Value at Risk (CVaR) is used as a rewarding metric. A study on the IEEE 123-bus test feeder validate the effectiveness of the proposed model and show how to effectively allocate budget limited resources to plan a resilient power distribution network.

Paul, Shuva↗

DOE OSTI2020

Dynamic Restoration Strategy for Distribution System Resilience Enhancement

In electric power distribution systems, distributed energy resources (DERs) can act as controllable power sources and support utility operators to minimize power outages after extreme weather events (e.g., hurricane, earthquake, wildfire) and thus help enhance the grid's resilience. Meanwhile, the influences of extreme events and the capabilities of DERs are dynamic and difficult to predict. Hence, the desired distribution system restoration strategy should be able to evolve according to real-time fault/dis-turbance information and the availability of DERs. In this paper, we propose a new dynamic restoration strategy for distribution systems to enhance system resilience against potential hazards. An efficient reconfiguration algorithm is developed to eliminate the use of integer variables to relieve the computational burden. Model predictive control is implemented to adjust the system topology and DER operation set points based on the updated fault information and DER forecasts. The effectiveness of the proposed restoration model in enhancing distribution system resilience is validated through an IEEE 123-bus test system. Simulation results also validate that the proposed restoration model can mitigate the occurrence of unexpected events and the fluctuations of DERs.

distributed energy resources (DERs)↗

DOE OSTI2020

Dynamic Restoration Strategy for Distribution System Resilience Enhancement

In electric power distribution systems, distributed energy resources (DERs) can act as controllable power sources and support utility operators to minimize power outages after extreme weather events (e.g., hurricane, earthquake, wildfire) and thus help enhance the grid's resilience. Meanwhile, the influences of extreme events and the capabilities of DERs are dynamic and difficult to predict. Hence, the desired distribution system restoration strategy should be able to evolve according to real-time fault/disturbance information and the availability of DERs. In this paper, we propose a new dynamic restoration strategy for distribution systems to enhance system resilience against potential hazards. An efficient reconfiguration algorithm is developed to eliminate the use of integer variables to relieve the computational burden. Model predictive control is implemented to adjust the system topology and DER operation set points based on the updated fault information and DER forecasts. The effectiveness of the proposed restoration model in enhancing distribution system resilience is validated through an IEEE 123-bus test system. Simulation results also validate that the proposed restoration model can mitigate the occurrence of unexpected events and the fluctuations of DERs.

24 POWER TRANSMISSION AND DISTRIBUTION↗

DOE OSTI2024

Self-Aware Local Autonomous and Semi-Cooperative Control for Cross-Layered Resilience (SLAC3R)

The objective of this work is to develop and demonstrate novel, adaptive, lightweight algorithms that enable the decision-making agents in a large cyber-physical network to act both autonomously and in collaborative harmony to enforce assured resilience across spatiotemporal layers, even under unforeseen adversarial scenarios (e.g., high- impact-low-probability events). Towards this end, the proposed solution will serve as minimally invasive add-on layers that bridge the existing (faster, reactive) local myopic controls and (slower, predictive) centralized optimization. Importantly, the proposed algorithms will enable the multi-agent network to autonomously and collaboratively enforce resilient operation under no or limited communication environment typical of severe cyber- physical adversarial events. The expected outcome of this effort is a suite of prototype, open-source, software algorithms for safety-aware local autonomous and semi-cooperative control (SLAC3R), demonstrated on networked microgrids (via RD2C/Thrust-1 OPAL-RT testbed).

97 MATHEMATICS AND COMPUTING↗

DOE OSTI2023

Architecture for Quantum-in-the Loop Real-Time Simulations for Designing Resilient Smart Grids

With the power grid growing more complex every day with the inclusion of new sensors and regulatory approvals that enable end-users and small local developers to participate in the grid, it is becoming challenging for conventional smart grid simulation, emulation, and testing technologies to keep up. In this work, we propose that quantum-encoded real-time simulations can be helpful under the new paradigm and operational circumstances to solve optimization problems for power grids. By leveraging the principles of quantum mechanics, the proposed quantum-in-loop (QIL) framework will enable better and faster optimization solutions based on real-world, real-time data streams, facilitating the real-time planning and operations of electrical grids that rely on millions of distributed sensors and controllers. Furthermore, QIL will allow researchers and engineers to assist utilities in designing, developing, and de-risking algorithms to optimize power grid operation and resilience by considering inputs from millions of grid-connected devices. QIL framework is being developed to have a self-limiting triage mechanism, which will help engineers and practitioners identify fundamental physical limits on quantum processors, revealing what quantum algorithms can and cannot do in utility-specific use cases and must continue to count on classical high-performance computing infrastructure.

digital real-time simulation↗

DOE OSTI2021

Side-channel Leakage Assessment Metrics: A Case Study of GIFT Block Ciphers

Determination of an adequate level of security and providing subsequent mechanisms to achieve it, is one of the most pressing problems regarding embedded computing devices. While there are some solutions available for resource-rich computer systems, direct application of these solutions to resource-constrained environments are often unfeasible. The fundamental problem for such resource-constrained systems is the fact that current cryptographic algorithms utilize significant energy consumption and storage overhead. Both the cryptographic algorithm and its physical implementation affect the resilience of a cryptosystem against side-channel attacks. A side-channel attack represents a process that exploits leakages in order to extract sensitive information such as the key. This paper focuses on Correlation Power Analysis (CPA) which is side-channel attack based on the power consumption leakage. In 2016 the U.S. Commerce Department’s National Institute of Standards and Technology (NIST) initiated the call for proposals of new cryptographic algorithms to strengthen the cryptographic defense of networked devices against cyberattacks and to protect the data created by those innumerable device. This work evaluates S-boxes used by NIST candidates PICCOLO, GIFT, and PRESENT, as well as several S-box variants that demonstrated sufficient weaknesses against classical cryptanalysis, for a quantitative comparison in terms of resiliency to CPA attack. Three well-known theoretical metrics are evaluated: transparency order (TO and RTO), nonlinearity, and signal-to-noise (SNR) ratio, aiming to characterize the resistance of these S-boxes against adversaries exploiting physical leakages. Experimental results from attacks on an 8- bit XMEGA were obtained via the ChipWhisperer platform and of all the S-boxes evaluated, GIFT64 with a PICCOLO S-box was found to be the most susceptible to CPA. Results showed that variations in TO and RTO were not sufficient to ensure practical CPA resistance and that among S-boxes with equal non-linearity there were no significant differences in the TO and SNR variants.

97 MATHEMATICS AND COMPUTING↗

DOE OSTI2021

Side-channel Leakage Assessment Metrics: A Case Study of GIFT Block Ciphers

97 MATHEMATICS AND COMPUTING↗

DOE OSTI2024

Self-Assembling Microgrids for Resilient Distribution Systems of the Future: Implementation in a Commercial DERMS Platform

Microgrids have long provided resilience to critical facilities such as hospitals and military installations, and they are now increasingly being looked at as a building block for future grids to support the energy resilience needs of the grid of the future. State-of-the-art technologies, such as blackstart algorithms using renewable distributed energy resources (DERs) to effectively and seamlessly form microgrids, have been produced by national labs over the years. Their adoption by the utility industry would be critical to reap the most benefits toward energy and climate resilience, and the pathway is via commercialization of these self-assembling microgrid algorithms by integrating them in a commercial product platform. This project brings a national labs team (LLNL, LANL) together with a vendor (Smarter Grid Solutions) to perform proof-of-concept integration of the algorithms into the vendor’s commercial Distributed Energy Resources Management System (DERMS). The project provides a strong pathway to commercialization of the algorithms thereby promoting adoption of resilient microgrid technology by utilities to offer resilience benefits to all customers and especially to disadvantaged and underserved communities.

24 POWER TRANSMISSION AND DISTRIBUTION↗

DOE OSTI2022

Reinforcement Learning for feedback-enabled cyber resilience

The rapid growth in the number of devices and their connectivity has enlarged the attack surface and made cyber systems more vulnerable. As attackers become increasingly sophisticated and resourceful, mere reliance on traditional cyber protection, such as intrusion detection, firewalls, and encryption, is insufficient to secure the cyber systems. Cyber resilience provides a new security paradigm that complements inadequate protection with resilience mechanisms. A Cyber-Resilient Mechanism (CRM) adapts to the known or zero-day threats and uncertainties in real-time and strategically responds to them to maintain the critical functions of the cyber systems in the event of successful attacks. Feedback architectures play a pivotal role in enabling the online sensing, reasoning, and actuation process of the CRM. Reinforcement Learning (RL) is an important gathering of algorithms that epitomize the feedback architectures for cyber resilience. It allows the CRM to provide dynamic and sequential responses to attacks with limited or without prior knowledge of the environment and the attacker. In this work, we review the literature on RL for cyber resilience and discuss the cyber-resilient defenses against three major types of vulnerabilities, i.e., posture-related, information-related, and human-related vulnerabilities. Here we introduce moving target defense, defensive cyber deception, and assistive human security technologies as three application domains of CRMs to elaborate on their designs. The RL algorithms also have vulnerabilities themselves. We explain the major vulnerabilities of RL and present develop several attack models where the attacker target the information exchanged between the environment and the agent: the rewards, the state observations, and the action commands. We show that the attacker can trick the RL agent into learning a nefarious policy with minimum attacking effort. The paper introduces several defense methods to secure the RL-enabled systems from these attacks. However, there is still a lack of works that focuses on the defensive mechanisms for RL-enabled systems. Last but not least, we discuss the future challenges of RL for cyber security and resilience and emerging applications of RL-based CRMs.

97 MATHEMATICS AND COMPUTING↗

DOE OSTI2019

Node failure resiliency for Uintah without checkpointing

The frequency of failures in upcoming exascale supercomputers may well be greater than at present due to many-core architectures if component failure rates remain unchanged. This potential increase in failure frequency coupled with I/O challenges at exascale may prove problematic for current resiliency approaches such as checkpoint restarting, although the use of fast intermediate memory may help. Algorithm-Based Fault Tolerance (ABFT) using Adaptive Mesh Refinement (AMR) is one resiliency approach used to address these challenges. For adaptive mesh codes, a coarse mesh version of the solu- tion may be used to restore the fine mesh solution. This paper addresses the implementation of the ABFT approach within the Uintah software framework: both at a software level within Uintah and in the data reconstruction method used for the recovery of lost data. This method has two problems: inaccuracies introduced during the reconstruction propagate forward in time, and the physical consistency of variables such as positivity or boundedness may be violated during interpolation. These challenges can be addressed by the combination of two techniques: 1. a fault-tolerant MPI implementation to recover from runtime node failures, and 2. high-order interpolation schemes to preserve the physical solution and reconstruct lost data. Here, the approach considered here uses a "Limited Essentially Non-Oscillatory" (LENO) scheme along with AMR to rebuild the lost data without checkpointing using Uintah. Experiments were carried out using a fault-tolerant MPI - ULFM to recover from runtime failure, and LENO to recover data on patches belonging to failed ranks, while the simulation was continued to the end. Results show that this ABFT approach is up to 10x faster than the traditional checkpointing method. The new interpolation approach is more accurate than linear interpolation and not subject to the overshoots found in other interpolation methods.

97 MATHEMATICS AND COMPUTING↗

DOE OSTI2023

Flexible Boundary Design for a Chattanooga Microgrid Powered by Landfill Solar Photovoltaic and Battery Storage

Landfill based microgrids powered by renewable energy aid reliability and resiliency while promoting environmental and energy justice. This paper aims to design a flexible boundary algorithm for a proposed Chattanooga landfill microgrid with the ability to shrink or expand its boundaries based on the available power from the solar PV and battery storage. This helps to improve resiliency unlike the conventional fixed boundary microgrids. The flexible boundary algorithm determines the combination and switching status of the intellirupter ® which changes the microgrid boundaries to achieve power balance by dropping or energizing specific load sections. Finally, the microgrid with flexible boundary was simulated in MATLAB/Simulink and performed satisfactorily when tested under various scenarios.

24 POWER TRANSMISSION AND DISTRIBUTION↗

NASA NTRSDate not supplied

NASA and Blue Origin Collaborative Assessment of Precision Landing Algorithms and Computing

NASA’s Safe and Precise Landing Integrated Capabilities Evolution (SPLICE) project is developing sensor, algorithm, and compute technologies for precision landing and hazard avoidance. These technologies are being tested as an integrated Precision Landing and Hazard Avoidance (PL&HA) system on Blue Origin’s New Shephard suborbital vehicle. A key goal for the computing element of this technology development is to characterize the performance of the SPLICE software workloads on the project’s Descent and Landing Computer (DLC). The DLC is a multi-core processor designed as a surrogate for NASA’s High-Performance Space Computer (HPSC). Measurements of the SPLICE workload performance on the DLC provides NASA insight on how PL&HA capabilities will perform on the HPSC, and guidance on how the SPLICE algorithms can be implemented to best utilize the DLC platform. This insight can also be used to derive requirements to guide trade studies on candidate computing architectures, for use on platforms like Blue Moon. NASA and Blue Origin are collaborating under an agreement to pursue this mutual benefit. Performance metrics collected are based on measurement of common compute resources such as percentage used of memory bandwidth, I/O utilization, interrupt latency, and kernel vs. user space code residency. Where possible existing performance counters and metrics that are part of the operating system kernel are used. As the design has a significant FPGA component, performance counters are identified and instantiated in the fabric to measure DMA performance and interface metrics. Collection of metrics is performed on the DLC with a representative workload that simulates a full landing cycle of the Blue Origin New Shepard vehicle. Consideration is given to the other compute implementations and whether they can run SPLICE algorithms at the same rate and with the same latency as the DLC. One option being considered is the use of a RISC-V soft core instantiated in a radiation resilient FPGA fabric such as the Xilinx KU60. Select algorithms from the SPLICE code will be run for comparison with the DLC. This paper describes how the DLC is instrumented to collect performance measurements of the SPLICE workloads, preliminary results from these measurements, and their implications on SPLICE algorithm implementation. The results of experimentation to derive candidate requirements for architecture trades on a PL&HA computing system are also presented.

computer performance↗

DOE OSTI2025

A distributed voltage inference framework for cyber-physical attacks detection and localization in active distribution grids

The transition to active distribution grids with real-time monitoring and control depends on the proliferation of advanced communication networks and devices. This paradigm shift towards a cyber-physical architecture also introduces new vulnerabilities for adversaries to exploit and launch sophisticated cyber-physical attacks targeting grid observability. Current research highlights the challenges in distinguishing attacks on voltage phasor or nodal injection measurements and isolating multi-source attack locations in a multiphase distribution grid. The attack detection and localization methods in literature face accuracy issues, applications across diverse attack scenarios, or scalability limits. Here, to bridge these gaps, this paper proposes a distributed Voltage Inference framework for real-time detection and localization of cyber-physical attacks, addressing scalability, adaptability, and accuracy challenges in state-of-the-art methods. The proposed methodology leverages the distributed nature of the Voltage Inference framework through a two-step process of prediction and correction, together with a tractable graph partitioning approach, providing a reliable solution to identify compromised measurement sources and facilitate isolation. Extensive testing on IEEE 13 and 123-node distribution feeders underscores the algorithm’s efficacy, enhancing the security and resilience of active distribution grids against evolving cyber threats. Additionally, Hardware-in-the-Loop (HIL) implementation validates the proposed strategy’s practical applicability in real-world scenarios.

active distribution grids↗

DOE OSTI2017

Smart-DS: Synthetic Models for Advanced, Realistic Testing: Distribution Systems and Scenarios

The National Renewable Energy Laboratory (NREL) in collaboration with Massachusetts Institute of Technology (MIT), Universidad Pontificia Comillas (Comillas-IIT, Spain) and GE Grid Solutions, is working on an ARPA-E GRID DATA project, titled Smart-DS, to create: 1) High-quality, realistic, synthetic distribution network models, and 2) Advanced tools for automated scenario generation based on high-resolution weather data and generation growth projections. Through these advancements, the Smart-DS project is envisioned to accelerate the development, testing, and adoption of advanced algorithms, approaches, and technologies for sustainable and resilient electric power systems, especially in the realm of U.S. distribution systems. This talk will present the goals and overall approach of the Smart-DS project, including the process of creating the synthetic distribution datasets using reference network model (RNM) and the comprehensive validation process to ensure network realism, feasibility, and applicability to advanced use cases. The talk will provide demonstrations of early versions of synthetic models, along with the lessons learnt from expert engagements to enhance future iterations. Finally, the scenario generation framework, its development plans, and co-ordination with GRID DATA repository teams to house these datasets for public access will also be discussed.

24 POWER TRANSMISSION AND DISTRIBUTION↗

DOE OSTI2018

Resilient distributed state estimation with mobile agents: overcoming Byzantine adversaries, communication losses, and intermittent measurements

Applications in environmental monitoring, surveillance and patrolling typically require a network of mobile agents to collectively gain information regarding the state of a static or dynamical process evolving over a region. However, these networks of mobile agents also introduce various challenges, including intermittent observations of the dynamical process, loss of communication links due to mobility and packet drops, and the potential for malicious or faulty behavior by some of the agents. The main contribution of this paper is the development of resilient, fully-distributed, and provably correct state estimation algorithms that simultaneously account for each of the above considerations, and in turn, offer a general framework for reasoning about state estimation problems in dynamic, failure-prone and adversarial environments. Specifically, we develop a simple switched linear observer for dealing with the issue of time-varying measurement models, and resilient filtering techniques for dealing with worst-case adversarial behavior subject to time-varying communication patterns among the agents. Here, our approach considers both communication patterns that recur in a deterministic manner, and patterns that are induced by random packet drops. For each scenario, we identify conditions on the dynamical system, the patrols, the nominal communication network topology, and the failure models that guarantee applicability of our proposed techniques. Finally, we complement our theoretical results with detailed simulations that illustrate the efficacy of our algorithms in the presence of the technical challenges described above.

42 ENGINEERING↗