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This paper addresses the problem of resilient consensus in the presence ofmisbehaving nodes. Although it is typical to assume knowledge of at least somenonlocal information when studying secure and fault-tolerant consensusalgorithms, this assumption is not suitable for large-scale dynamic networks.To remedy this, we emphasize the use of local strategies to deal withresilience to security breaches. We study a consensus protocol that uses onlylocal information and we consider worst-case security breaches, where thecompromised nodes have full knowledge of the network and the intentions of theother nodes. We provide necessary and sufficient conditions for the normalnodes to reach consensus despite the influence of the malicious nodes underdifferent threat assumptions. These conditions are stated in terms of a novelgraph-theoretic property referred to as network robustness.

Consensus of Multi-Agent Networks in the Presence of Adversaries Using Only Local Information