Robotics: Science and Systems XI
Guaranteeing Spoof-Resilient Multi-Robot Networks
Stephanie Gil, Swarun Kumar, Mark Mazumder, Dina Katabi, Daniela RusAbstract:
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%.
Bibtex:
@INPROCEEDINGS{Gil-RSS-15, AUTHOR = {Stephanie Gil AND Swarun Kumar AND Mark Mazumder AND Dina Katabi AND Daniela Rus}, TITLE = {Guaranteeing Spoof-Resilient Multi-Robot Networks}, BOOKTITLE = {Proceedings of Robotics: Science and Systems}, YEAR = {2015}, ADDRESS = {Rome, Italy}, MONTH = {July}, DOI = {10.15607/RSS.2015.XI.020} }