• Corpus ID: 231741109

Distributed Control of Multi-Robot Systems in the Presence of Deception and Denial of Service Attacks

@article{Lee2021DistributedCO,
  title={Distributed Control of Multi-Robot Systems in the Presence of Deception and Denial of Service Attacks},
  author={Sangjun Lee and Byung-Cheol Min},
  journal={ArXiv},
  year={2021},
  volume={abs/2102.00098}
}
This research proposes a distributed switching control to secure multi-robot systems in the presence of cyberattacks. Two major types of cyberattack are considered: deception attack and denial of service (DoS) attack, which compromise the integrity and availability of resources, respectively. First, a residual-based attack detection scheme is introduced to identify the type of attacks. Then, a switching control is designed to neutralize the effect of the identified attacks, satisfying the… 

Figures from this paper

References

SHOWING 1-10 OF 25 REFERENCES
Spoof resilient coordination for distributed multi-robot systems
TLDR
A class of resilient consensus strategies are generalized, known as Weighted Mean-Subsequence-Reduced (W-MSR) consensus, to further provide spoof resilience by incorporating a physical fingerprint analysis of signals received from neighboring agents.
Resilient Distributed Control in the Presence of Misbehaving Agents in Networked Control Systems
TLDR
A reputation-based resilient distributed control algorithm is first proposed for the leader-follower consensus network and extended to the leaderless consensus network by introducing and adding two recovery schemes into the current framework to guarantee the accurate convergence of the well-behaving agents in NCS.
Distributed Direction of Arrival Estimation-Aided Cyberattack Detection in Networked Multi-Robot Systems
  • Sangjun Lee, B. Min
  • Computer Science
    2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
  • 2018
TLDR
Experimental results demonstrate that the proposed detection scheme enables each robot to identify malicious activities without shearing the global coordination.
Replay Attack Detection in a Platoon of Connected Vehicles with Cooperative Adaptive Cruise Control
TLDR
This paper focuses in detecting replay attack in a connected vehicle system under Cooperative Adaptive Cruise Control (CACC) where one of the vehicle is affected by a malicious agent which wants to compromise the safety and the performance of the platoon.
Fault-Tolerant Rendezvous of Multirobot Systems
TLDR
A fault-tolerant distributed control algorithm that is guaranteed to converge to consensus under certain reasonable connectivity conditions that is robust even to undetected faults in the system.
Consensus Control of Distributed Robots Using Direction of Arrival of Wireless Signals
TLDR
This paper uses wireless signal measurements to estimate the direction of arrival (relative bearings) of neighboring robots and introduces a weighted bearing consensus controller to achieve coordinate-free distributed multi-robot rendezvous and proves that the proposed controller guarantees connectivity maintenance and convergence even in the presence of measurement noise.
Security of Vehicle Platooning: A Game-Theoretic Approach
TLDR
The existence of Nash Equilibrium (NE) strategies for this game is investigated based on which the detector can choose specific vehicles to put his sensors on and increase the security level of the system.
Safe and Secure Networked Control Systems under Denial-of-Service Attacks
TLDR
This work presents a semi-definite programming based solution for solving the problem of security constrained optimal control for discrete-time, linear dynamical systems in which control and measurement packets are transmitted over a communication network.
Cross-Layer Retrofitting of UAVs Against Cyber-Physical Attacks
  • Fan Fei, Zhan Tu, Xinyan Deng
  • Computer Science
    2018 IEEE International Conference on Robotics and Automation (ICRA)
  • 2018
TLDR
Experimental results verified that BlueBox was capable of both detecting and handling a variety of cyber-physical attacks, while also providing the means in which to recover from such attacks.
Resilient Flocking for Mobile Robot Teams
TLDR
This work presents a method that enables resilient formation control for mobile robot teams in the presence of noncooperative (defective or malicious) robots, and demonstrates the use of the framework for resilient flocking, and shows simulation results with groups of holonomic mobile robots.
...
1
2
3
...