Guaranteeing Spoof-Resilient Multi-Robot Networks
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MIT-CSAIL-TR-2015-024.pdf
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Author(s)
Gil, Stephanie
Kumar, Swarun
Mazumder, Mark
Katabi, Dina
Rus, Daniela
Advisor(s)
Daniela Rus
Date Issued
Invalid Date
Citation
Robotics Science and Systems
Series/Report no.
MIT-CSAIL-TR-2015-024
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%.
Subjects
cyber-physcial systems
cybersecurity
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Creative Commons Attribution-Non Commercial-No Derivative Works 4.0 International
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