Visible to the public Switching Topology for Resilient Consensus Using Wi-Fi Signals

TitleSwitching Topology for Resilient Consensus Using Wi-Fi Signals
Publication TypeConference Paper
Year of Publication2019
AuthorsWheeler, Thomas, Bharathi, Ezhil, Gil, Stephanie
Conference Name2019 International Conference on Robotics and Automation (ICRA)
Date Publishedmay
ISBN Number978-1-5386-6027-0
Keywordsarbitrary malicious node values, Communication system security, composability, connected topology, graph theory, initial topology, legitimate agents, Metrics, multi-robot systems, multiagent consensus, multirobot team security, Network topology, physical networks, physical properties, probability, pubcrawl, resilience, Resiliency, resilient consensus, security, societal integration, Switches, switching signal, switching topology, Sybil attack, sybil attacks, telecommunication network topology, telecommunication security, telecommunication switching, Topology, true graph, untrustworthy agents, untrustworthy transmissions, Wi-Fi signals, wireless channels, Wireless communication, wireless LAN, Wireless sensor networks, wireless transmissions

Securing multi-robot teams against malicious activity is crucial as these systems accelerate towards widespread societal integration. This emerging class of ``physical networks'' requires research into new methods of security that exploit their physical nature. This paper derives a theoretical framework for securing multi-agent consensus against the Sybil attack by using the physical properties of wireless transmissions. Our frame-work uses information extracted from the wireless channels to design a switching signal that stochastically excludes potentially untrustworthy transmissions from the consensus. Intuitively, this amounts to selectively ignoring incoming communications from untrustworthy agents, allowing for consensus to the true average to be recovered with high probability if initiated after a certain observation time T0 that we derive. This work is different from previous work in that it allows for arbitrary malicious node values and is insensitive to the initial topology of the network so long as a connected topology over legitimate nodes in the network is feasible. We show that our algorithm will recover consensus and the true graph over the system of legitimate agents with an error rate that vanishes exponentially with time.

Citation Keywheeler_switching_2019