CPS: TTP Option: Synergy: Safe and Secure Open-Access Multi-Robot Systems

该建议解决了当用户远程访问多机器人研究试验台时出现的安全和安全问题，在该试验台中，移动的机器人可以以协作的方式协调其行为。通过一个公共界面，用户可以安排并随后上传自己的代码并运行他们的实验，同时提供通过实验产生的科学数据。 这种开放获取框架有可能大大降低机器人研究和教育的准入门槛，但从安全和安保的角度来看，它本身就很脆弱。该提案旨在为移动的机器人团队开发和定义适当的网络物理安全概念、正式验证算法和安全关键的实时控制代码，最终使这样的系统既有用又安全。在研究进展的基础上，该提案还包含了一个过渡到实践的组成部分，该组成部分将使该系统成为一个高度可用的共享测试平台，可以作为其他开放式远程访问测试平台的模型。安全对于任何远程访问测试平台的成功实现都至关重要，如果不执行安全措施，可能会导致当地操作人员受伤和设备损坏。为了保证安全运行，同时允许用户远程测试算法，在安全关键控制领域需要新的科学。 为了满足这一需求，拟议的工作遵循三管齐下的方法，即（1）在具有可证明安全属性的微创、基于优化的控制器的背景下开发和使用新型屏障证书，（2）用于验证网络化网络物理系统的安全关键控制代码的正式方法，以及（3）用于防止机器对机器网络攻击的新方法。 通过将多智能体机器人、安全关键控制、正式验证和网络安全的想法结合在一起，该项目将为网络化网络物理系统的安全提供统一和一致的方法。由此产生的开放式多机器人试验台的潜在影响是显着的沿着研究，教育和一般的推广方面，在未来一代的机器人专家在全国各地的机构将有开放和远程访问世界一流的研究设施，各级教育工作者将能够运行实际的机器人实验。

This proposal addresses the safety and security issues that arise when giving users remote-access to a multi-robot research test-bed, where mobile robots can coordinate their behaviors in a collaborative manner. Through a public interface, users are able to schedule, and subsequently upload, their own code and run their experiments, while being provided with the scientific data produced through the experiment. Such an open-access framework has the potential to significantly lowering the barriers to entry in robotics research and education, yet is inherently vulnerable from a safety and security point-of-view. This proposal aims at the development and definition of appropriate cyber-physical security notions, formal verification algorithms, and safety-critical, real-time control code for teams of mobile robots that will ultimately make such a system both useful and safe. On top of the research developments, this proposal contains a Transition to Practice component that will allow the system to become a highly usable, shared test-bed; one that can serve as a model for other open, remote-access test-beds.Safety is of central importance to the successful realization of any remote-access test-bed and failure to enforce safety could result in injury in local operators and damaged equipment. To guarantee safe operation, while allowing users to test algorithms remotely, new science is required in the domain of safety-critical control. To address this need, the proposed work follows a three-pronged approach, namely (1) development and use of novel types of barrier certificates in the context of minimally invasive, optimization-based controllers with provable safety properties, (2) formal methods for verification of safety-critical control code for networked cyber-physical systems, and (3) novel methods for protecting against machine-to-machine cyber attacks. By bringing together ideas from multi-agent robotics, safety-critical control, formal verification, and cyber-security, this project will result in a unified and coherent approach to security in networked cyber-physical systems. The potential impact of the resulting open-access multi-robot test-bed is significant along the research, education, and general outreach dimensions in that a future generation of roboticists at institutions across the country will have open and remote access to a world-class research facility, and educators at all levels will be able to run experiments on actual robots.