Dynamic Data Integration for Resilience to Sensor Attacks in Multi-Agent Systems

In recent years the number of security incidents affecting control systems has increased. These incidents have shown the need to develop strategies to improve system resilience to cyber-attacks. This paper presents a practical implementation of a strategy to detect cyber-attacks and mitigate their e...

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Bibliographic Details
Published inIEEE access Vol. 9; pp. 31236 - 31245
Main Authors Burbano, Luis, Combita, Luis Francisco, Quijano, Nicanor, Rueda, Sandra
Format Journal Article
LanguageEnglish
Published IEEE 2021
Subjects
Cyber-physical systems
Mobile robots
Multi-agent systems
resilience to sensor attacks
Robot sensing systems
Robots
sensor attacks
Sensor systems
Sensors
Wheels
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Summary:In recent years the number of security incidents affecting control systems has increased. These incidents have shown the need to develop strategies to improve system resilience to cyber-attacks. This paper presents a practical implementation of a strategy to detect cyber-attacks and mitigate their effects on sensors of a multi-agent system. The proposed approach computes, in real-time, a convex combination of measurements from main and redundant sensors, producing a trust value of the measurement and feeding it to the controller. We implemented this approach on a testbed of ground robots in formation. Experimental results to various kinds of attacks and a key performance index show that the proposed strategy reduces the effects of attacks not only on the affected agent, but also prevents the propagation of the attack over the remaining agents.
ISSN:2169-3536
2169-3536
DOI:10.1109/ACCESS.2021.3059560