Sybil-Resilient Multi-Drone Exploration of Indoor and Confined Spaces

Summary

Researchers study Sybil attacks on teams of exploring drones, where one compromised drone fabricates identities that claim frontiers and send fake scans, leaving parts of a building unexplored and adding nonexistent walls to shared maps. They evaluate five attackers and five defences that rely only on onboard sensors and maps, across 70 simulated maps. Without defence, one compromised drone leaves on average up to 25% of a map unexplored (45% in offices); the quarantine defence restores exploration to unattacked-team levels in every setting, with binding bodies to identities covering the remaining exceptions.

Mitigation

Quarantine identities that no drone has observed, and bind each observed body to one identity; the study also evaluates auditing received map data against each drone's own sensing, checking that a body is present where an identity claims to be, and trusting only identities whose body has been seen.

Topics

• Robotics and embodied AI

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