论文标题
差异化私人形成控制:隐私和网络共同设计
Differentially Private Formation Control: Privacy and Network Co-Design
论文作者
论文摘要
随着多代理系统的繁殖,越来越需要对保护代理敏感信息的协调协议的需求,同时仍允许它们协作。通常,网络系统和控制器是首先设计和实施的,然后仅在此之后才纳入隐私。但是,设计过程缺乏隐私可能会使在不损害系统性能的情况下难以实施。为了帮助满足这一需求,本文提出了一个用于多代理网络和私人控制器的共同设计框架,我们将其应用于私人形成控制问题。代理的状态轨迹是使用差异隐私保护的,这是隐私的统计概念,可以通过向其添加噪声来保护数据。隐私噪声改变了网络的性能,我们通过计算限制私人地层的稳态错误来量化该网络的性能。然后,我们分析了网络通信拓扑的隐私级别,系统性能和连接性之间的权衡。这些权衡用于制定共同设计优化框架,以设计最佳的通信拓扑以及运行不同私有形成控制的网络的最佳隐私参数。仿真结果说明了我们提出的隐私/网络共同设计问题的可扩展性,即使实施了隐私,也可以达到的高质量地层。
As multi-agent systems proliferate, there is increasing need for coordination protocols that protect agents' sensitive information while still allowing them to collaborate. Often, a network system and controller are first designed and implemented, and then privacy is only incorporated after that. However, the absence of privacy from the design process can make it difficult to implement without significantly harming system performance. To help address this need, this paper presents a co-design framework for multi-agent networks and private controllers that we apply to the problem of private formation control. Agents' state trajectories are protected using differential privacy, which is a statistical notion of privacy that protects data by adding noise to it. Privacy noise alters the performance of the network, which we quantify by computing a bound for the steady-state error for private formations. Then, we analyze tradeoffs between privacy level, system performance, and connectedness of the network's communication topology. These trade-offs are used to formulate a co-design optimization framework to design the optimal communication topology alongside the optimal privacy parameters for a network running differentially private formation control. Simulation results illustrate the scalability of our proposed privacy/network co-design problem to large multi-agent networks, as well as the high quality of formations one can attain, even with privacy implemented.