Wardega, KacperTron, RobertoLi, Wenchao2020-01-132020-01-132019-05-23Kacper Wardega, Roberto Tron, Wenchao Li. 2019. "Resilience of Multi-Robot Systems to Physical Masquerade Attacks." IEEE Workshop on the Internet of Safe Things. San Francisco, 2019-05-23 - 2019-05-23. https://doi.org/10.1109/SPW.2019.00031https://hdl.handle.net/2144/39088The advent of autonomous mobile multi-robot systems has driven innovation in both the industrial and defense sectors. The integration of such systems in safety-and security-critical applications has raised concern over their resilience to attack. In this work, we investigate the security problem of a stealthy adversary masquerading as a properly functioning agent. We show that conventional multi-agent pathfinding solutions are vulnerable to these physical masquerade attacks. Furthermore, we provide a constraint-based formulation of multi-agent pathfinding that yields multi-agent plans that are provably resilient to physical masquerade attacks. This formalization leverages inter-agent observations to facilitate introspective monitoring to guarantee resilience.en-USMulti-robot systemsMulti-agent pathfindingObservation planningPhysical masquerade attacksConference materials10.1109/SPW.2019.000310000-0002-6676-8595 (Tron, Roberto)0000-0003-0153-4648 (Li, Wenchao)455478