TY - GEN
T1 - Switching topology for resilient consensus using wi-fi signals
AU - Wheeler, Thomas
AU - Bharathi, Ezhil
AU - Gil, Stephanie
N1 - Publisher Copyright:
© 2019 IEEE.
PY - 2019/5
Y1 - 2019/5
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=85071423209&partnerID=8YFLogxK
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U2 - 10.1109/ICRA.2019.8793788
DO - 10.1109/ICRA.2019.8793788
M3 - Conference contribution
AN - SCOPUS:85071423209
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 2018
EP - 2024
BT - 2019 International Conference on Robotics and Automation, ICRA 2019
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2019 International Conference on Robotics and Automation, ICRA 2019
Y2 - 20 May 2019 through 24 May 2019
ER -