Crowd Vetting: Rejecting Adversaries via Collaboration With Application to Multirobot Flocking

In this article, we characterize the advantage of using a robot's neighborhood to find and eliminate adversarial robots in the presence of a Sybil attack. We show that by leveraging the opinions of their neighbors on the trustworthiness of transmitted data, robots can detect adversaries with hi...

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Veröffentlicht in:	IEEE transactions on robotics Jg. 38; H. 1; S. 5 - 24
Hauptverfasser:	Mallmann-Trenn, Frederik, Cavorsi, Matthew, Gil, Stephanie
Format:	Journal Article
Sprache:	Englisch
Veröffentlicht:	New York IEEE 01.02.2022 The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Schlagworte:	Algorithms Collision avoidance Distributed robot systems Moving targets Multiple robots multirobot systems networked robots Resilience resilient coordination Robot kinematics Robots Social networking (online) Target tracking Tracking Vehicle dynamics
ISSN:	1552-3098, 1941-0468
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Abstract	In this article, we characterize the advantage of using a robot's neighborhood to find and eliminate adversarial robots in the presence of a Sybil attack. We show that by leveraging the opinions of their neighbors on the trustworthiness of transmitted data, robots can detect adversaries with high probability. We characterize the number of communication rounds required to be a function of the communication quality and of the proportion of legitimate to malicious robots. This result enables increased resiliency of many multirobot algorithms. Because our results are finite time and not asymptotic, they are particularly well-suited for problems of a time critical nature. We develop two algorithms, FindSpoofedRobots that determines trusted neighbors with high probability, and FindResilientAdjacencyMatrix that enables distributed computation of graph properties in an adversarial setting. We apply our methods to a flocking problem where a team of robots must track a moving target in the presence of adversarial robots. We show that by using our algorithms, the team of robots are able to maintain tracking ability of the dynamic target.
AbstractList	In this article, we characterize the advantage of using a robot’s neighborhood to find and eliminate adversarial robots in the presence of a Sybil attack. We show that by leveraging the opinions of their neighbors on the trustworthiness of transmitted data, robots can detect adversaries with high probability. We characterize the number of communication rounds required to be a function of the communication quality and of the proportion of legitimate to malicious robots. This result enables increased resiliency of many multirobot algorithms. Because our results are finite time and not asymptotic, they are particularly well-suited for problems of a time critical nature. We develop two algorithms, FindSpoofedRobots that determines trusted neighbors with high probability, and FindResilientAdjacencyMatrix that enables distributed computation of graph properties in an adversarial setting. We apply our methods to a flocking problem where a team of robots must track a moving target in the presence of adversarial robots. We show that by using our algorithms, the team of robots are able to maintain tracking ability of the dynamic target.
Author	Cavorsi, Matthew Gil, Stephanie Mallmann-Trenn, Frederik
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Snippet	In this article, we characterize the advantage of using a robot's neighborhood to find and eliminate adversarial robots in the presence of a Sybil attack. We... In this article, we characterize the advantage of using a robot’s neighborhood to find and eliminate adversarial robots in the presence of a Sybil attack. We...
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SubjectTerms	Algorithms Collision avoidance Distributed robot systems Moving targets Multiple robots multirobot systems networked robots Resilience resilient coordination Robot kinematics Robots Social networking (online) Target tracking Tracking Vehicle dynamics
Title	Crowd Vetting: Rejecting Adversaries via Collaboration With Application to Multirobot Flocking
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