Robust Consensus in Multi Robot Systems Using Wireless Signals
Securing robot teams against malicious activity is crucial as these systems accelerate towards widespread societal integration. Researchers derive a framework for securing multi-agent consensus against the Sybil attack by using physical properties of wireless transmissions. Researchers design a switching signal and consensus protocol from the transmissions, which stochastically excludes untrustworthy clients. This allows for consensus to the average with a probability of error that vanishes exponentially with time. This work has culminated into a paper submitted and accepted for presentation at the IEEE International Conference on Robotics and Automation (ICRA) in spring 2019.