Security and Resiliency of Coordinated Autonomous Vehicles

摘要

This project identifies methods for improving the security and resilience of autonomous vehicles in coordinated networks. Specifically, we developed a trust algorithm that quantifies the reliability of agents within the network. The algorithm takes advantage of the historic reliability of an agent, defined as reputation, and the tendency towards increasing or decreasing error, defined as trend. The trust algorithm is cyclic; trust measurements help detect anomalies within the network and anomalies are used to update trust measurements. This paper outlines the trust algorithm and results from its application in both simulation in MATLAB and a hardware demonstration on TurtleBot 2 robots. This paper represents a work in progress. Preliminary results have been gathered from simulation and further results will be gathered from the hardware demonstration after integration is complete.