Multi-robot Resiliency

Within robotics, multi-agent system coordination and swarming have long been studied, but have regained consideration attention to consider safety and security issues. Most multi-agent applications are designed without considering cyber-security issues, which perform operations with the assumption that all agents are cooperating. We propose a monitoring framework for multi-agent systems that detects and isolates compromised vehicles to enable the swarm to resiliently continue operations in the presence of stealthy communications and sensor attacks. Our paper has recently been accepted to the IEEE Transactions on Robotics (T-RO) to be published within a Special Issue on Resilience in Networked Robotic Systems PDF.

Additional simulation and experiment results of our resilient multi-agent framework can be found in the following link. </p>