Conference Paper

Consensus-based distributed Intrusion Detection for multi-robot systems

Interdepartmental Res. Center "E. Piaggio", Univ. di Pisa, Pisa
DOI: 10.1109/ROBOT.2008.4543196 Conference: 2008 IEEE International Conference on Robotics and Automation, ICRA 2008, May 19-23, 2008, Pasadena, California, USA
Source: DBLP

ABSTRACT

This paper addresses a security problem in robotic multi-agent systems, where agents are supposed to cooperate according to a shared protocol. A distributed Intrusion Detection System (IDS) is proposed here, that detects possible non-cooperative agents. Previous work by the authors showed how single monitors embedded on-board the agents can detect non- cooperative behavior, using only locally available information. In this paper, we allow such monitors to share the collected information in order to overcome their sensing limitation. In this perspective, we show how an agreement on the type of behavior of a target-robot may be reached by the monitors, through execution of a suitable consensus algorithm. After formulating a consensus problem over non-scalar quantities, and with a generic update function, we provide conditions for the consensus convergence and an upper bound to its transient duration. Effectiveness of the proposed solution is finally shown through simulation of a case study.

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    • "An attempt to control a collective variable expressed in terms of formation statistics (e.g. the centroid and the shape of the team) by resorting to a distributed estimator of the actual collective variable can be found in [10] and [25]. Decentralized estimation and control are also investigated in [22] in the framework of linear state feedback control, and in [8] in the context of sensory networks, where the estimated state covers the role of solving surveillance and monitoring tasks. The paper builds on the results of [1], [4], where tracking of the sole weighted centroid has been achieved by resorting to a distributed controller, and of [2], [3] where the tracking of an assigned time-varying relative formation, in addition to the centroid, is achieved. "
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    • "The cooperation rules are assumed to be a class of decentralized logical conditions. Moreover, a communication-based reputation consensus protocol is constructed in [5] in order to confirm the network's decisions on faulty targets. "
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    ABSTRACT: In this paper we propose a distributed real-time fault detection, isolation and mitigation framework for multiagent systems performing cooperative tasks. Various system models and detection schemes with respect to communication and sensing are considered. Two communication protocols for fault detection are introduced first and proved to be effective. Then a scheme based on limited relative state measurements is developed. Furthermore, we propose fault isolation and mitigation steps to guarantee the accomplishment of a global objective. All schemes are distributed in the sense that at each step of the fault detection, isolation and mitigation every agent only uses locally available information. One key feature of the framework is the significant reduction of required computational resource when compared with the fault detection and isolation schemes based on unknown input observers. Later we show that the proposed framework can be applied to the consensus and other cooperative formation problems. Several computer simulations are presented to demonstrate the efficiency of the framework.
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    • "is the combination of all the internal agents state at time k = k 0 , and ¯ k ≤ d(G), with d(G) the diameter of the graph, i.e., the greatest distance between any pair of vertices. Proof: The proof follows the same argument used in [20] to prove the abstract convergence of consensus algorithms. In the following, for sake of clarity, we will refer to the consensus algorithm over a bounded lattice as " lattice consensus " . "
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