Enhancing Security in Multi-Robot Systems through Co-Observation Planning, Reachability Analysis, and Network Flow
arxiv(2024)
摘要
This paper addresses security challenges in multi-robot systems (MRS) where
adversaries may compromise robot control, risking unauthorized access to
forbidden areas. We propose a novel multi-robot optimal planning algorithm that
integrates mutual observations and introduces reachability constraints for
enhanced security. This ensures that, even with adversarial movements,
compromised robots cannot breach forbidden regions without missing scheduled
co-observations. The reachability constraint uses ellipsoidal
over-approximation for efficient intersection checking and gradient
computation. To enhance system resilience and tackle feasibility challenges, we
also introduce sub-teams. These cohesive units replace individual robot
assignments along each route, enabling redundant robots to deviate for
co-observations across different trajectories, securing multiple sub-teams
without requiring modifications. We formulate the cross-trajectory
co-observation plan by solving a network flow coverage problem on the
checkpoint graph generated from the original unsecured MRS trajectories,
providing the same security guarantees against plan-deviation attacks. We
demonstrate the effectiveness and robustness of our proposed algorithm, which
significantly strengthens the security of multi-robot systems in the face of
adversarial threats.
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