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...
| Main Authors: | , , , , |
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| Other Authors: | |
| Format: | Article |
| Language: | English |
| Published: |
Springer-Verlag
2017
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| Online Access: | http://hdl.handle.net/1721.1/110570 https://orcid.org/0000-0002-3964-2049 https://orcid.org/0000-0003-4854-4157 https://orcid.org/0000-0001-5473-3566 |
| 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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