Multi-agent Coordinated Motion Planning for Monitoring and Controlling the Observed Space in a Security Zone

Kim, Ji Min; Choi, Jin Hwan; Lee, Beom Hee

doi:10.3182/20080706-5-kr-1001.00288

Cited by 3 publications

(4 citation statements)

References 10 publications

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“…However, relatively scarce literature has taken security into consideration. Among those that consider security, existing works are primarily limited to patrol strategies for intrusion detection [17]- [21], secure communication [22], [23] and attack-resilient network protocols [9], [24]. More recently, approaches that leverage the physics of the environment to counter cyberattacks began to emerge.…”

Section: Related Workmentioning

confidence: 99%

Resilience of Multi-robot Systems to Physical Masquerade Attacks

Wardega

Tron

2019

2019 IEEE Security and Privacy Workshops (SPW)

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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 securitycritical 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.

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Section: Related Workmentioning

confidence: 99%

Resilience of Multi-robot Systems to Physical Masquerade Attacks

Wardega

Tron

2019

2019 IEEE Security and Privacy Workshops (SPW)

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“…The detection map is similarly defined with the concept of the collision map [27] and the overlap map [31]. The construction of the detection map is depicted in Fig.…”

Section: Detection Mapmentioning

confidence: 99%

“…In stealth motion planning, we adopt a decoupled approach [27][28][29][30][31] that separately plans a path and a trajectory. By path we mean a geometric specification of a curve in the configuration space…”

Section: Decoupled Approachmentioning

confidence: 99%

Long-term stealth navigation in a security zone where the movement of the invader is monitored

Park

Choi

Kim

et al. 2010

Int. J. Control Autom. Syst.

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This paper deals with the security robot motion planning in order to stealthily approach the backside of the invader based on an active prediction planning execution (APPE) strategy. The stealth navigation is needed in the security system because the invader will try to run away from the robot when it detects the robot. We propose an algorithm for making the robot to approach the invader stealthily within a desired range. We predict the long-term motion of the invader and plan the security robot motion by using detection map. It represents the region that the robot can move stealthily on a certain path. The robot motion can be separately planned as a geometric path and a speed profile using detection map. The path is planned on the predetermined roadmap. The speed profile is planned so that the robot is not detected by the invader. The simulation results demonstrate that our algorithm is efficient for shortening the distance between the robot and the invader when the invader first detects the robot. Our algorithm is compared with the case that does not consider the stealth condition of the robot and the grid-based method.

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“…It is similarly defined with the concept of the collision map [11] and the overlap map [12]. Construction of the detection map is depicted in the Fig.…”

Section: A Detection Mapmentioning

confidence: 99%

Roadmap-based stealth navigation for intercepting an invader

Park

Choi

Kim

et al. 2009

2009 IEEE International Conference on Robotics and Automation

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This paper deals with the stealth targetinterception problem based on the active prediction planning execution (APPE) strategy. In order to cope with the evasive feature of the invader, we make the robot move stealthily by hiding behind obstacles. We adopt a roadmap-based decoupled approach, which plans the path and the trajectory separately by developing new concept; the detection map. Simulation results demonstrate the efficiency of the proposed algorithm. It has an enough practical running time to be applied to the real-time situation.

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Multi-agent Coordinated Motion Planning for Monitoring and Controlling the Observed Space in a Security Zone

Cited by 3 publications

References 10 publications

Resilience of Multi-robot Systems to Physical Masquerade Attacks

Resilience of Multi-robot Systems to Physical Masquerade Attacks

Long-term stealth navigation in a security zone where the movement of the invader is monitored

Roadmap-based stealth navigation for intercepting an invader

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