Resilient Monitoring in Multi-Robot Systems against denial-of-service attacks through Predictive Network-Reconfiguration Defense

摘要

This study presents a resilience framework designed for heterogeneous multi-robot teams to effectively handle Denial-of-Service attacks. Within this framework, robots distribute resources among each other according to the team’s established communication graph, and the success of their tasks heavily relies on the availability of these shared resources. In the event of a DoS attack that interrupts communications, the team strategically reconfigures the network to ensure uninterrupted task execution. This involves carefully selecting which connections, or edges, in the communication graph should be altered following the disruption. The practicality and effectiveness of this strategy have been validated through a series of simulation experiments.