Virtual Convex Hull Based Distributed Iterative Localization for Mobile Sensor Networks Under Denial-of-Service Attacks

This paper addresses the problem of cybersecurity in the localization process of mobile sensor networks. A generic model of random periodic denial-of-service (DoS) attacks is considered, where the attacker’s behavior is bounded only by the duration and frequency of the DoS attacks. A class of distributed localization algorithms based on virtual convex hull is proposed, which is abstracted as a linear time-varying system by constructing virtual convex hull using a single anchor node. Using the method combining graph composition and sub-stochastic matrix, it is shown that the algorithm can accurately converge to the true locations of sensor nodes. At last, the effectiveness of the algorithm is verified by simulation examples.