Approximate Byzantine Group Consensus in Robust Networks

In this paper, a fault tolerant algorithm, so called L-MSR, is proposed for non-faulty nodes to achieve approximate Byzantine consensus on one or more equilibrium points in the presence of unstructured Byzantine (uStrBYZ) agents. For the first time, the notion of approximate Byzantine group consensus is introduced. We first present the topological conditions for non-faulty nodes to achieve approximate Byzantine consensus using the L-MSR algorithm. Then, these results are extended to the case where non-faulty nodes achieve approximate Byzantine group consensus. Finally, we present numerical analysis to illustrate our results.