Switching topology for resilient consensus using wi-fi signals

Thomas Wheeler, Ezhil Bharathi, Stephanie Gil

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

Abstract

Securing multi-robot teams against malicious activity is crucial as these systems accelerate towards widespread societal integration. This emerging class of 'physical networks' requires research into new methods of security that exploit their physical nature. This paper derives a theoretical framework for securing multi-agent consensus against the Sybil attack by using the physical properties of wireless transmissions. Our frame-work uses information extracted from the wireless channels to design a switching signal that stochastically excludes potentially untrustworthy transmissions from the consensus. Intuitively, this amounts to selectively ignoring incoming communications from untrustworthy agents, allowing for consensus to the true average to be recovered with high probability if initiated after a certain observation time T0 that we derive. This work is different from previous work in that it allows for arbitrary malicious node values and is insensitive to the initial topology of the network so long as a connected topology over legitimate nodes in the network is feasible. We show that our algorithm will recover consensus and the true graph over the system of legitimate agents with an error rate that vanishes exponentially with time.

Original languageEnglish (US)
Title of host publication2019 International Conference on Robotics and Automation, ICRA 2019
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages2018-2024
Number of pages7
ISBN (Electronic)9781538660263
DOIs
StatePublished - May 1 2019
Externally publishedYes
Event2019 International Conference on Robotics and Automation, ICRA 2019 - Montreal, Canada
Duration: May 20 2019May 24 2019

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
Volume2019-May
ISSN (Print)1050-4729

Conference

Conference2019 International Conference on Robotics and Automation, ICRA 2019
CountryCanada
CityMontreal
Period5/20/195/24/19

Fingerprint

Wi-Fi
Topology
Information use
Physical properties
Robots
Communication

ASJC Scopus subject areas

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

Cite this

Wheeler, T., Bharathi, E., & Gil, S. (2019). Switching topology for resilient consensus using wi-fi signals. In 2019 International Conference on Robotics and Automation, ICRA 2019 (pp. 2018-2024). [8793788] (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 2019-May). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICRA.2019.8793788

Switching topology for resilient consensus using wi-fi signals. / Wheeler, Thomas; Bharathi, Ezhil; Gil, Stephanie.

2019 International Conference on Robotics and Automation, ICRA 2019. Institute of Electrical and Electronics Engineers Inc., 2019. p. 2018-2024 8793788 (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 2019-May).

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

Wheeler, T, Bharathi, E & Gil, S 2019, Switching topology for resilient consensus using wi-fi signals. in 2019 International Conference on Robotics and Automation, ICRA 2019., 8793788, Proceedings - IEEE International Conference on Robotics and Automation, vol. 2019-May, Institute of Electrical and Electronics Engineers Inc., pp. 2018-2024, 2019 International Conference on Robotics and Automation, ICRA 2019, Montreal, Canada, 5/20/19. https://doi.org/10.1109/ICRA.2019.8793788
Wheeler T, Bharathi E, Gil S. Switching topology for resilient consensus using wi-fi signals. In 2019 International Conference on Robotics and Automation, ICRA 2019. Institute of Electrical and Electronics Engineers Inc. 2019. p. 2018-2024. 8793788. (Proceedings - IEEE International Conference on Robotics and Automation). https://doi.org/10.1109/ICRA.2019.8793788
Wheeler, Thomas ; Bharathi, Ezhil ; Gil, Stephanie. / Switching topology for resilient consensus using wi-fi signals. 2019 International Conference on Robotics and Automation, ICRA 2019. Institute of Electrical and Electronics Engineers Inc., 2019. pp. 2018-2024 (Proceedings - IEEE International Conference on Robotics and Automation).
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