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

该项目提出了一种新的网络物理范式，用于增强高级机器人网络的安全性，免受外部恶意网络攻击（以及内部非恶意故障）。这样的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进行攻击，并在物理世界中造成后果。该项目的核心思想是通过设计基于自省的分布式安全规范来提供针对此类威胁的新安全层：除了特定任务目标之外，代理还使用物理感知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。我们提出的研究主要围绕三个重点：A)系统地识别特定于所考虑的场景的攻击模型，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，生成满足任务规范和额外安全要求的灵活计划；C)新的低级控制器，可以与实时目标（如避障）协商高级计划，同时允许代理之间的协作。拟议的研究包括一个机器人测试平台的评估计划，该平台包括配备摄像头的地面和空中飞行器，以及用于创建模拟我们激励应用的增强现实环境的短距投影仪。该奖项反映了美国国家科学基金会的法定使命，并通过使用基金会的知识价值和更广泛的影响审查标准进行评估，被认为值得支持。

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.