Model-Consistent Byzantine-Resilient Decentralized Federated Learning for Collaborative Missions

Decentralized federated learning (DFL) is a promising paradigm for autonomous nodes to collaboratively train AI models without relying on a central server. However, existing DFL solutions do not guarantee global model consistency, a critical requirement for collaborative mission-critical scenarios where model divergence undermines decision uniformity and safety. This lack of consistency also amplifies vulnerability to Byzantine adversaries, who exploit the decentralized network topology and weak synchrony to perform equivocation and model poisoning attacks against individual victims. This paper introduces DFL-C, a novel Byzantine-resilient DFL architecture that enables decentralized nodes to perform collaborative training with global model consistency. At its core, DFL-C integrates an asynchronous common subset (ACS) consensus protocol into the DFL workflow to ensure all nodes aggregate a uniform set of model updates to establish global model consistency, despite individual Byzantine equivocation. DFL-C further implements a dual-domain trust scoring mechanism to provide resilience against data-domain Byzantine manipulations including model poisoning attacks. This mechanism complements the consensus protocol, significantly reducing the latter's runtime. Our experimental results demonstrate that DFL-C maintains model accuracy while achieving global model consistency under Byzantine behaviors with moderate consensus overhead. Notably, when compared with the state-of-the-art DFL solution BALANCE (Fang et al.) that does not provide model consistency, DFL-C achieves better model accuracy against untargeted model poisoning attacks and comparable resilience against backdoor attacks, with the advantage widened under non-IID scenarios.