CPS: Medium: Collaborative Research: Multiagent Physical Cognition and Control Synthesis Against Cyber Attacks

CPS：媒介：协作研究：针对网络攻击的多智能体物理认知和控制综合

• 批准号: 1932162
• 负责人: Roberto Tron
• 金额: $ 83.54万
• 依托单位: Trustees of Boston University
• 依托单位国家: 美国
• 项目类别: Standard Grant
• 财政年份: 2019
• 资助国家: 美国
• 起止时间: 2019-09-01 至 2024-08-31
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=1932162&HistoricalAwards=false
• 关键词: CPS; Medium; Collaborative; Research; Multiagent

This project proposes a novel cyber-physical paradigm for enhancing the security in networks of advanced robots from external malicious cyber attacks (and internal non-malicious malfunctions as well). Such systems have tremendous potential for improved productivity, but also carry new risks: malicious actors could exploit the connectivity of the devices to carry out attacks with consequences in the physical world.The core idea of this project is to provide a novel layer of security against such threats by designing distributed security specifications based on introspection: agents use physical-sensing capabilities to surveil the behaviors of other agents in the team in addition to the task-specific mission objective. Such specifications will offer an additional layer of protection in emerging applications with networked robots.Our proposed research revolves around three main thrusts: A) systematically identify attack models specific to the scenarios considered, together with countermeasures based on measurements in the physical world, B) develop abstraction-based high-level planning algorithms that generate flexible plans that satisfy both the task specifications and the additional security requirements, and C) new low-level controllers that can negotiate the high-level plans with real-time objectives (such as obstacle avoidance) while allowing for collaboration between the agents. The proposed research includes an evaluation plan on a robotic testbed which includes camera-equipped ground and aerial vehicles, as well as short-throw projectors for creating augmented reality environments emulating our motivating applications.This award reflects NSF's statutory mission and has been deemed worthy of support through evaluation using the Foundation's intellectual merit and broader impacts review criteria.

该项目提出了一种新的网络物理范式，用于增强先进机器人网络的安全性，使其免受外部恶意网络攻击（以及内部非恶意故障）。这些系统在提高生产力方面具有巨大的潜力，但也带来了新的风险：恶意行为者可能会利用设备的连接性在物理世界中进行攻击。该项目的核心思想是通过设计基于内省的分布式安全规范来提供一个新的安全层，以应对此类威胁：除了任务特定的使命目标之外，代理使用物理感测能力来监视团队中其他代理的行为。这些规范将为网络机器人的新兴应用提供额外的保护层。我们的研究计划围绕三个主要目标：A）系统地识别特定于所考虑场景的攻击模型，以及基于物理世界测量的对策，B）开发基于抽象的高级规划算法，其生成满足任务规范和附加安全要求两者的灵活计划，以及C）新的低级别控制器，其可以与实时目标（例如障碍物避免）协商高级别计划，同时允许代理之间的协作。拟议的研究包括一个机器人试验台上的评估计划，该试验台包括配备摄像头的地面和飞行器，以及用于创建模拟我们激励应用的增强现实环境的短程投影仪。该奖项反映了NSF的法定使命，并被认为值得通过使用基金会的智力价值和更广泛的影响审查标准进行评估来支持。

项目成果

Resilience of Multi-robot Systems to Physical Masquerade Attacks

• DOI: 10.1109/spw.2019.00031
• 发表时间: 2019-05
• 期刊: 2019 IEEE Security and Privacy Workshops (SPW)
• 作者: Kacper Wardega;Roberto Tron;Wenchao Li

Multi-Agent Trajectory Optimization Against Plan-Deviation Attacks using Co-Observations and Reachability Constraints

使用联合观察和可达性约束针对计划偏差攻击的多智能体轨迹优化

• DOI: 10.1109/cdc45484.2021.9683465
• 发表时间: 2021
• 期刊: IEEE International Conference on Decision and Control
• 作者: Yang, Ziqi;Tron, Roberto
• 通讯作者: Tron, Roberto

Byzantine Resilience at Swarm Scale: A Decentralized Blocklist Protocol from Inter-robot Accusations

• DOI: 10.48550/arxiv.2301.06977
• 发表时间: 2023-01
• 作者: Kacper Wardega;Max von Hippel;Roberto Tron;C. Nita-Rotaru;Wenchao Li

Multi-Agent Path Planning Under Observation Schedule Constraints

• DOI: 10.1109/iros45743.2020.9340747
• 发表时间: 2020-10
• 期刊: 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
• 作者: Ziqi Yang;Roberto Tron

HoLA Robots: Mitigating Plan-Deviation Attacks in Multi-Robot Systems with Co-Observations and Horizon-Limiting Announcements

• DOI: 10.48550/arxiv.2301.10704
• 发表时间: 2023-01
• 作者: Kacper Wardega;Max von Hippel;Roberto Tron;C. Nita-Rotaru;Wenchao Li