Swarm Robotics System Algorithm for Defense against Coordinated Behavior Strategy Attacks

Problem statement: designing the defense mechanism against coordinated behavior strategy attacks for mobile multiagent robotic systems. Possible attacks of that kind may be carried out by use message interception, creating and transmitting disinformation, and other actions, that does not have identifiable characteristics of saboteur intrusion, and lead to making incorrect or non-optimal decision by group of robots. The purpose of the work: the increase of probability of detection coordinated behavior strategy attacks on mobile multiagent robotic systems. Methods used: proposed algorithm is further development of self organization mechanism, using trust and reputation metrics for detection and counteraction against malicious robots. Accuracy of proposed method is confirmed using imitation model of collective exploration task. The novelty: algorithm is based on quantification of consensus achievement process into consecutive time periods, which is followed by inter - and intraperiod processing of information, produces by robots of the swarm and by malicious robots during communication. The result: experiment shows that the swarm is capable to counteract against coordinated attack of malicious robots, when concentration of malicious units is more than 51 %. The probability of such counteraction is close to 1. Known detection and counteraction methods for destructive informational influence in homogeneous swarms of robots prove to be effective in cases, when concentration of malicious units is less than 45 %. Practical significance: developed algorithm may be used for multiagent robotic systems security system design to protect against attack, executed during interactions between agents of the swarm. Algorithm allows to successfully counteract coordinated attacks similar to «51 percent attack».