A decaying confidence weight in trust-based multi-robot consensus provably bounds the final deviation from ideal consensus while allowing arbitrarily many malicious robots.
Friedkin-Johnsen Model With Diminishing Competition,
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Confidence Boosts Trust-Based Resilience in Cooperative Multi-Robot Systems
A decaying confidence weight in trust-based multi-robot consensus provably bounds the final deviation from ideal consensus while allowing arbitrarily many malicious robots.