  This paper considers the use of fully homomorphic encryption for the
realisation of distributed formation control of multi-agent systems via edge
computer. In our proposed framework, the distributed control computation in the
edge computer uses only the encrypted data without the need for a reset
mechanism that is commonly required to avoid error accumulation. Simulation
results show that, despite the use of encrypted data on the controller and
errors introduced by the quantization process prior to the encryption, the
formation is able to converge to the desired shape. The proposed architecture
offers insight on the mechanism for realising distributed control computation
in an edge/cloud computer while preserving the privacy of local information
coming from each agent.
