Topic: environmental uncertainty

Stephanie Gil studies reliable coordination in robot networks facing malicious information and ordinary environmental uncertainty. Communication signals provide physical evidence of trustworthiness that is difficult to forge; the cy-trust framework turns that evidence into probabilistic trust estimates and weights neighboring agents accordingly. For consensus and distributed optimization, the analysis establishes almost-sure convergence with bounded departures from nominal performance even when malicious agents form a majority of a node’s neighbors, exceeding the classical Byzantine threshold.