Secure Bearing-Based Target Localization for Multi-Agent Networks Against Malicious Agents

Secure target localization is a crucial problem in multi-agent networks. Most of the existing secure localization methods are developed in the distance-based localization framework. By comparison, this paper studies the bearing-based secure target localization problem for multi-agent networks, where some of the agents may be malicious such that the corresponding bearing measurements can be arbitrary. First, a quantitative condition for bearing-based secure target localization is characterized. Under the given condition, a novel technique named as the vector cross product is used to design a class of secure localization algorithms, which guarantees that the localization error of each agent is bounded, and the error bound is independent of the measurements of malicious agents. Moreover, based on the proposed approach, the bearing-based secure target localization problem with random measurement error is studied. Note that, the above theoretical analysis and algorithm design rely on an important definition, called the cone generated by the agent’s measurement, which is different from the ring defined in the existing distance-based localization framework. Finally, simulations are given to demonstrate the effectiveness of the proposed approach.
Note to Practitioners
—This paper is motivated by the bearing-based target localization problem in network engineering. The existing bearing-based target localization approaches for multi-agent networks are often investigated under reliable environment. However, in practice, a multi-agent network may be deployed in an adversarial environment, where some of the agents are malicious, which could deteriorate the accuracy of the localization result. Therefore, studying the security for bearing-based target localization in an adversarial environment is an important and practical issue. In this paper, the quantitative condition for bearing-based secure target localization is systematically analyzed. Under the given condition, an effective bearing-based secure target localization approach is developed, which can guarantee the localization accuracy even in the presence of malicious agents. Future research should focus on more complex target localization scenario, such as secure localization for mobile and multiple targets.