Guaranteeing spoof-resilient multi-robot networks

Multi-robot networks use wireless communication to provide wide-ranging services such as aerial surveillance and unmanned delivery. However, effective coordination between multiple robots requires trust, making them particularly vulnerable to cyber-attacks. Specifically, such networks can be gravely...

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Bibliographic Details
Published in:Autonomous robots Vol. 41; no. 6; pp. 1383 - 1400
Main Authors: Gil, Stephanie, Kumar, Swarun, Mazumder, Mark, Katabi, Dina, Rus, Daniela
Format: Journal Article
Language:English
Published: New York Springer US 01.08.2017
Springer Nature B.V
Subjects:
Algorithms
Artificial Intelligence
Clients
Computer Imaging
Control
Cryptography
Cybersecurity
Engineering
Mechatronics
Multiple robots
Pattern Recognition and Graphics
Robotics
Robotics and Automation
Robots
Special Issue on "Robotics: Science and Systems"
Vision
Wireless communications
Wireless networks
Anechoic chamber
Wireless networks
Coordinated control
Performance bounds
Cybersecurity
Multi-robot systems
Sybil attack
ISSN:0929-5593, 1573-7527
Online Access:Get full text
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Summary:Multi-robot networks use wireless communication to provide wide-ranging services such as aerial surveillance and unmanned delivery. However, effective coordination between multiple robots requires trust, making them particularly vulnerable to cyber-attacks. Specifically, such networks can be gravely disrupted by the Sybil attack, where even a single malicious robot can spoof a large number of fake clients. This paper proposes a new solution to defend against the Sybil attack, without requiring expensive cryptographic key-distribution. Our core contribution is a novel algorithm implemented on commercial Wi-Fi radios that can “sense” spoofers using the physics of wireless signals. We derive theoretical guarantees on how this algorithm bounds the impact of the Sybil Attack on a broad class of multi-robot problems, including locational coverage and unmanned delivery. We experimentally validate our claims using a team of AscTec quadrotor servers and iRobot Create ground clients, and demonstrate spoofer detection rates over 96%.
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ISSN:0929-5593
1573-7527
DOI:10.1007/s10514-017-9621-5