Guaranteeing spoof-resilient multi-robot networks

Stephanie Gil, Swarun Kumar, Mark Mazumder, Dina Katabi, Daniela Rus

Research output: Chapter in Book/Report/Conference proceedingConference contribution

6 Scopus citations

Abstract

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 robotic coverage problems. We experimentally validate our claims using a team of AscTec quadrotor servers and iRobot Create ground clients, and demonstrate spoofer detection rates over 96%.

Original languageEnglish (US)
Title of host publicationRobotics
Subtitle of host publicationScience and Systems XI, RSS 2015
EditorsJonas Buchli, David Hsu, Lydia E. Kavraki
PublisherMIT Press Journals
ISBN (Electronic)9780992374716
DOIs
StatePublished - 2015
Externally publishedYes
Event2015 Robotics: Science and Systems Conference, RSS 2015 - Rome, Italy
Duration: Jul 13 2015Jul 17 2015

Publication series

NameRobotics: Science and Systems
Volume11
ISSN (Electronic)2330-765X

Other

Other2015 Robotics: Science and Systems Conference, RSS 2015
CountryItaly
CityRome
Period7/13/157/17/15

ASJC Scopus subject areas

  • Artificial Intelligence
  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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