Consensus-based Distributed Intrusion Detection for Multi-Robot Systems

Fagiolini, Adriano; Pellinacci, M.; Valenti, G; Dini, Gianluca; Bicchi, Antonio

doi:10.1109/robot.2008.4543196

Cited by 39 publications

(26 citation statements)

References 18 publications

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“…Another closely related research problem is the issue of security of consensus in multi-robot systems [9]. A distributed intrusion detection system (IDS) has been developed using a hybrid model of robotic agents that monitors neighboring agents to detect noncooperative agents using only local information [9].…”

Section: Related Work and Discussionmentioning

confidence: 99%

“…A distributed intrusion detection system (IDS) has been developed using a hybrid model of robotic agents that monitors neighboring agents to detect noncooperative agents using only local information [9]. The distributed IDS has been extended to deal with the case where some of the monitors provide false information [8], and improved by using past information [7].…”

Section: Related Work and Discussionmentioning

confidence: 99%

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Consensus in networked multi-agent systems with adversaries

LeBlanc

Koutsoukos

2011

Proceedings of the 14th International Conference on Hybrid Systems: Computation and Control

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In the past decade, numerous consensus protocols for networked multi-agent systems have been proposed. Although some forms of robustness of these algorithms have been studied, reaching consensus securely in networked multi-agent systems, in spite of intrusions caused by malicious agents, or adversaries, has been largely underexplored. In this work, we consider a general model for adversaries in Euclidean space and introduce a consensus problem for networked multi-agent systems similar to the Byzantine consensus problem in distributed computing. We present the Adversarially Robust Consensus Protocol (ARC-P), which combines ideas from consensus algorithms that are resilient to Byzantine faults and from linear consensus protocols used for control and coordination of dynamic agents. We show that ARC-P solves the consensus problem in complete networks whenever there are more cooperative agents than adversaries. Finally, we illustrate the resilience of ARC-P to adversaries through simulations and compare ARC-P with a linear consensus protocol for networked multi-agent systems.

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Section: Related Work and Discussionmentioning

confidence: 99%

Section: Related Work and Discussionmentioning

confidence: 99%

Consensus in networked multi-agent systems with adversaries

LeBlanc

Koutsoukos

2011

Proceedings of the 14th International Conference on Hybrid Systems: Computation and Control

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“…There, reputation-based approaches [9] and voting algorithms [10] can prove very useful. For instance, if one vehicle veers off the pre-defined route or reports very different sensor data, this can be considered as an indication that it may have been compromised.…”

Section: Related Workmentioning

confidence: 99%

Behaviour-Based Anomaly Detection of Cyber-Physical Attacks on a Robotic Vehicle

Bezemskij

Loukas

Anthony

et al. 2016

2016 15th International Conference on Ubiquitous Computing and Communications and 2016 International Symposium on Cyberspace An

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Abstract-Security is one of the key challenges in cyberphysical systems, because by their nature, any cyber attack against them can have physical repercussions. This is a critical issue for autonomous vehicles; if compromised in terms of their communications or computation they can cause considerable physical damage due to their mobility. Our aim here is to facilitate the automatic detection of cyber attacks on a robotic vehicle. For this purpose, we have developed a detection mechanism, which monitors real-time data from a large number of sources onboard the vehicle, including its sensors, networks and processing. Following a learning phase, where the vehicle is trained in a non-attack state on what values are considered normal, it is then subjected to a series of different cyberphysical and physical-cyber attacks. We approach the problem as a binary classification problem of whether the robot is able to self-detect when and whether it is under attack. Our experimental results show that the approach is promising for most attacks that the vehicle is subjected to. We further improve its performance by using weights that accentuate the anomalies that are less common thus improving overall performance of the detection mechanism for unknown attacks.

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“…For this reason, we cannot exclude that an adversary may be able to compromise an underwater node and alter its behaviour. Detecting compromised nodes much depends on detecting anomalies in expected communication and movement patterns [26], which are highly application-dependent. However, reactive measures to remove the compromised node from the system once detected should be considered by design.…”

Section: The Cryptographic Suitementioning

confidence: 99%

A Secure Communication Suite for Underwater Acoustic Sensor Networks

Dini

Duca

2012

Sensors

Self Cite

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In this paper we describe a security suite for Underwater Acoustic Sensor Networks comprising both fixed and mobile nodes. The security suite is composed of a secure routing protocol and a set of cryptographic primitives aimed at protecting the confidentiality and the integrity of underwater communication while taking into account the unique characteristics and constraints of the acoustic channel. By means of experiments and simulations based on real data, we show that the suite is suitable for an underwater networking environment as it introduces limited, and sometimes negligible, communication and power consumption overhead.

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Consensus-based Distributed Intrusion Detection for Multi-Robot Systems

Cited by 39 publications

References 18 publications

Consensus in networked multi-agent systems with adversaries

Consensus in networked multi-agent systems with adversaries

Behaviour-Based Anomaly Detection of Cyber-Physical Attacks on a Robotic Vehicle

A Secure Communication Suite for Underwater Acoustic Sensor Networks

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