Resilience of Multi-robot Systems to Physical Masquerade Attacks
Resilience of Multi-robot Systems to Physical Masquerade Attacks
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DOI：
10.1109/spw.2019.00031
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发表时间：
2019-05
期刊：
影响因子：
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通讯作者：
Kacper Wardega;Roberto Tron;Wenchao Li
中科院分区：
文献类型：
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作者：
Kacper Wardega;Roberto Tron;Wenchao Li
自主移动多机器人系统的出现推动了工业和国防部门的创新。这些系统在安全和安全关键应用程序中的集成引起了人们对其抵御攻击能力的担忧。在这项工作中，我们研究了一个伪装成正常运作的代理的隐形对手的安全问题。我们表明，传统的多智能体寻径解决方案容易受到这些物理伪装攻击。此外，我们提供了一种基于约束的多代理寻路公式，该公式产生了可证明能够抵御物理伪装攻击的多代理计划。这种形式化利用代理间观察来促进内省监视，以保证弹性。
The advent of autonomous mobile multi-robot systems has driven innovation in both the industrial and defense sectors. The integration of such systems in safety-and security-critical applications has raised concern over their resilience to attack. In this work, we investigate the security problem of a stealthy adversary masquerading as a properly functioning agent. We show that conventional multi-agent pathfinding solutions are vulnerable to these physical masquerade attacks. Furthermore, we provide a constraint-based formulation of multi-agent pathfinding that yields multi-agent plans that are provably resilient to physical masquerade attacks. This formalization leverages inter-agent observations to facilitate introspective monitoring to guarantee resilience.