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This paper proposes a privacy-preserving algorithm to solve the averageconsensus problem based on Shamir's secret sharing scheme, in which a networkof agents reach an agreement on their states without exposing their individualstate until an agreement is reached. Unlike other methods, the proposedalgorithm renders the network resistant to the collusion of any given number ofneighbors (even with all neighbors' colluding). Another virtue of this work isthat such a method can protect the network consensus procedure fromeavesdropping.

Consensus with Preserved Privacy against Neighbor Collusion