A distributed resilient architecture for networked vehicle platoons during outdoor missions using digital twin and perturbation analysis

This paper addresses the problem of safely coordinating a platoon of autonomous vehicles during outdoor missions when the communication between each vehicle and its successor, as well as with remote distributed control units, is compromised by malicious agents. In particular, this operating scenario gives rise to the following methodological issues: capability of the distributed control algorithm to be feasible until the mission is accomplished and effectiveness of adequate countermeasures to contrast the anomalous dynamical system behavior resulting from unpredictable attack phenomena. Here, model predictive control techniques coupled with the so-called perturbation analysis will be exploited to comply with these objectives, while the concept of digital twin will be used to formally reveal anomalous actions on the data shared amongst the involved vehicles.