A method of counteracting Byzantine robots with a random behavior strategy during collective design-making in swarm robotic systems

Abstract

The active introduction of robotics swarm systems into life brings the issues of their information security up to date. Known security approaches often do not take into account the peculiarities of the implementation of swarm systems, such as collective design-making, and only consider the presence of Byzantine robots with a strategy of behavior consisting in voting against a majority when a consensus is reached. The aim of this work is to increase the security of the collective design-making process in a swarm robotics system from the imposition of false and ineffective alternatives by Byzantine robots with a random behavior strategy. It is proposed to use an approach based on the use of a distributed ledger and analysis of deviations in the process of collective design-making, which will allow identifying and isolating harmful effects. The solution to the problem of detecting Byzantine robots is based on the application of the criterion of the degree of confidence of a robot in choosing an alternative when a consensus is reached by the swarm system and is based on the assumption that the distribution of the degree of confidence of a Byzantine robot due to ignoring the parameters of the external environment and voting for random alternatives is significantly different from the behavior an ordinary robot. The elements of novelty of the presented solution include the use of the degree of confidence criterion to ensure the safety of collective design-making and the ability to take into account various strategies of behavior of Byzantine robots. The use of the presented solution makes it possible to increase the efficiency of reaching consensus by a swarm robotics system in the presence of Byzantine robots. The simulation for a swarm of 20 robots, including 5 Byzantine ones with random behavior, showed an increase in the probability of correctly reaching a consensus by 12.5%. The practical significance of the presented solutions lies in the possibility of ensuring the stability of reaching consensus by a swarm robotics system in the presence of robots with harmful behavior.