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Title: Differentially Private Formation Control
As multi-agent systems proliferate, there is in-creasing demand for coordination protocols that protect agents’ sensitive information while allowing them to collaborate. To help address this need, this paper presents a differentially private formation control framework. Agents’ state trajectories are protected using differential privacy, which is a statistical notion of privacy that protects data by adding noise to it. We provide a private formation control implementation and analyze the impact of privacy upon the system. Specifically, we quantify tradeoffs between privacy level, system performance, and connectedness of the network’s communication topology. These tradeoffs are used to develop guidelines for calibrating privacy in terms of control theoretic quantities, such as steady-state error, without requiring in-depth knowledge of differential privacy. Additional guidelines are also developed for treating privacy levels and network topologies as design parameters to tune the network’s performance. Simulation results illustrate these tradeoffs and show that strict privacy is inherently compatible with strong system performance.  more » « less
Award ID(s):
1943275
PAR ID:
10212093
Author(s) / Creator(s):
;
Date Published:
Journal Name:
Proceedings of the 2020 59th IEEE Conference on Decision and Control (CDC)
Page Range / eLocation ID:
6260 to 6265
Format(s):
Medium: X
Sponsoring Org:
National Science Foundation
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