Cooperative distributed state estimation: resilient topologies against smart spoofers

A network of observers is considered, where through asynchronous (with bounded delay) communications, they cooperatively estimate the states a linear time-invariant (LTI) system. In such setting, new type adversary might affect observation process by impersonating identity regular node, which violation communication authenticity. These adversaries also inherit capabilities Byzantine nodes, making them more powerful threats called smart spoofers. We show how networks are vulnerable to spoofing attack. estimation scheme considered in this paper, information flows from sets source can detect portion state variables each, other follower nodes. The avoid being misguided threats, distributively filter extreme values received nodes their neighborhood. Topological conditions based on strong robustness proposed guarantee convergence. Two simulation scenarios provided verify results.