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.@en

This article studies free recall, i.e., the reactivation of stored memory items, namely patterns , in any order, of a model of working memory. Our free recall model is based on a biologically plausible modular neural network composed of H modules, namely hypercolumns , each of which is a bundle of M minicolumns . The coupling weights and constant bias values of the network are determined by a Hebbian plasticity rule. Using techniques from nonlinear stability theory, we show that cluster synchronization is the central mechanism governing free recall of orthogonally encoded patterns. Particularly, we show that free recall's cluster synchronization is the combination of two main mechanisms: simultaneous activities of minicolumns representing an encoded pattern, i.e., within-pattern synchronization, together with time-divided activities of minicolumns representing different patterns. We characterize the coupling and bias value conditions under which cluster synchronization emerges. We also discuss the role of heterogeneous coupling weights and bias values of minicolumns' dynamics in free recall. Specifically, we compare the behaviour of two H×2 networks with identical and non-identical coupling weights and bias values. For these two networks, we obtain bounds on couplings and bias values under which both encoded patterns are recalled. Our analysis shows that having non-identical couplings and bias values for different patterns increases the possibility of their free recall. Numerical simulations are given to validate the theoretical analysis.@en

In this paper, we address the problem of distributed reconfiguration of networked control systems upon the removal of misbehaving sensors and actuators. In particular, we consider systems with redundant sensors and actuators cooperating to recover from faults. Reconfiguration is performed while minimizing a steady-state estimation error covariance and a quadratic control cost. A model-matching condition is imposed on the reconfiguration scheme. It is shown that the reconfiguration and its underlying computation can be distributed. Using an average dwell-time approach, the stability of the distributed reconfiguration scheme under finite-time termination is analyzed. The approach is illustrated in a numerical example.@en

This article studies stochastic relative phase stability, i.e., stochastic phase-cohesiveness, of discrete-time phase-coupled oscillators. The stochastic phase-cohesiveness in two types of networks is studied. First, we consider oscillators coupled with 2π-periodic odd functions over underlying undirected graphs subject to both multiplicative and additive stochastic uncertainties. We prove stochastic phase-cohesiveness of the network with respect to two specific, namely, in-phase and antiphase, sets by deriving sufficient coupling conditions. We show the dependency of these conditions on the size of the mean values of additive and multiplicative uncertainties, as well as the sign of the mean values of multiplicative uncertainties. Furthermore, we discuss the results under a relaxation of the odd property of the coupling function. Second, we study an uncertain network in which the multiplicative uncertainties are governed by the Bernoulli process representing the well-known Erdös-Rényi network. We assume constant exogenous frequencies and derive sufficient conditions for achieving both stochastic phase-cohesive and phase-locked solutions, i.e., stochastic phase-cohesiveness with respect to the origin. For the latter case, where identical exogenous frequencies are assumed, we prove that any positive probability of connectivity leads to phase-locking. Thorough analyses are provided, and insights obtained from stochastic analysis are discussed, along with numerical simulations to validate the analytical results.@en