1,116 research outputs found
Fast multipole networks
Two prerequisites for robotic multiagent systems are mobility and
communication. Fast multipole networks (FMNs) enable both ends within a unified
framework. FMNs can be organized very efficiently in a distributed way from
local information and are ideally suited for motion planning using artificial
potentials. We compare FMNs to conventional communication topologies, and find
that FMNs offer competitive communication performance (including higher network
efficiency per edge at marginal energy cost) in addition to advantages for
mobility
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Resilience of multi-robot systems to physical masquerade attacks
The 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.Accepted manuscrip
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