Print Email Facebook Twitter Impact of Network Topology on the Resilience of Vehicle Platoons Title Impact of Network Topology on the Resilience of Vehicle Platoons Author Pirani, Mohammad (University of Waterloo) Baldi, S. (TU Delft Team DeSchutter; Southeast University) Johansson, Karl Henrik (KTH Royal Institute of Technology) Date 2022 Abstract 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. Subject Connected vehiclesdistributed algorithms.Estimationgraph theorynetwork connectivityNetwork topologyResilienceResilience of vehicle platoonsRobustnessSecurityTopology To reference this document use: http://resolver.tudelft.nl/uuid:c658e842-6556-4895-a48e-02bf09fb2e60 DOI https://doi.org/10.1109/TITS.2021.3137826 ISSN 1524-9050 Source IEEE Transactions on Intelligent Transportation Systems, 23 (9), 15166-15177 Bibliographical note Accepted Author Manuscript Part of collection Institutional Repository Document type journal article Rights © 2022 Mohammad Pirani, S. Baldi, Karl Henrik Johansson Files PDF Impact_of_Network_Topolog ... atoons.pdf 1.46 MB Close viewer /islandora/object/uuid:c658e842-6556-4895-a48e-02bf09fb2e60/datastream/OBJ/view