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This paper considers the use of fully homomorphic encryption for therealisation of distributed formation control of multi-agent systems via edgecomputer. In our proposed framework, the distributed control computation in theedge computer uses only the encrypted data without the need for a resetmechanism that is commonly required to avoid error accumulation. Simulationresults show that, despite the use of encrypted data on the controller anderrors introduced by the quantization process prior to the encryption, theformation is able to converge to the desired shape. The proposed architectureoffers insight on the mechanism for realising distributed control computationin an edge/cloud computer while preserving the privacy of local informationcoming from each agent.

Homomorphic Encryption-Enabled Distance-Based Distributed Formation Control with Distance Mismatch Estimators