Guaranteeing spoof-resilient multi-robot networks
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 multi-robot problems, including locational coverage and unmanned delivery. We experimentally validate our claims using a team of AscTec quadrotor servers and iRobot Create ground clients, and demonstrate spoofer detection rates over 96%.
KeywordsMulti-robot systems Cybersecurity Sybil attack Wireless networks Coordinated control Anechoic chamber Performance bounds
This work was partially supported by the NSF and MAST project (ARL Grant W911NF-08-2-0004). We thank members of the MIT Center for Wireless Networks and Mobile Computing: Amazon.com, Cisco, Google, Intel, MediaTek, Microsoft, and Telefonica for their interest and general support.
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