本研究內容旨在利用四輪驅動自駕車作為多代理人系統（MAS），基於共識控制理論並採用分佈式計算方式進行整體系統控制。為確保系統資訊安全，本研究應用Paillier同態加密演算法對自駕車之位置與速度資料進行加密，透過無線通訊實現系統狀態共識，達成保密編隊控制的目標。至於控制器採用PID（比例、積分、微分）控制器以增加其穩定性，同時利用Paillier加法同態性質來保護系統狀態資訊，使多台四輪驅動自駕車在指定範圍內進行分佈式狀態協調與控制量調整。由圖形理論建立拓撲圖並推導出控制器參數以達成共識，並在編隊控制中重視資訊安全，使用Paillier密碼系統進行資料加解密。本研究採用Leader-Follower Approach，並且利用邊緣運算架構，Leader只負責加密之資訊傳輸及車體輪子之控制量運算，車道的辨識由邊緣裝置處理。

The aim of this study is to utilize the additive homomorphic properties of Paillier encryption are used to protect system state information. This allows multiple four-wheel drive autonomous vehicles to coordinate their states and adjust control inputs in a distributed manner within a specified range. Graph theory is used to establish the topology and derive controller parameters to achieve consensus, with an emphasis on information security during platoon control by using the Paillier cryptosystem for data encryption and decryption. The study adopts the Leader-Follower Approach and utilizes an edge computing architecture. The Leader is responsible for encrypted information transmission and control input computation for the vehicle wheels, while lane detection is handled by edge devices.

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