DocumentCode :
1861410
Title :
Consensus-based distributed intrusion detection for multi-robot systems
Author :
Fagiolini, Adriano ; Pellinacci, Marco ; Valenti, Gianni ; Dini, Gianluca ; Bicchi, Antonio
Author_Institution :
Interdepartmental Res. Center "E. Piaggio", Univ. di Pisa, Pisa
fYear :
2008
fDate :
19-23 May 2008
Firstpage :
120
Lastpage :
127
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.
Keywords :
decentralised control; multi-robot systems; security of data; consensus-based distributed intrusion detection system; cooperative control; decentralized control; generic update function; multirobot system; robotic multiagent system; security problem; shared protocol; Intelligent robots; Intelligent transportation systems; Intrusion detection; Monitoring; Multirobot systems; Protocols; Robotics and automation; Security; Surveillance; Upper bound;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Robotics and Automation, 2008. ICRA 2008. IEEE International Conference on
Conference_Location :
Pasadena, CA
ISSN :
1050-4729
Print_ISBN :
978-1-4244-1646-2
Electronic_ISBN :
1050-4729
Type :
conf
DOI :
10.1109/ROBOT.2008.4543196
Filename :
4543196
Link To Document :
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