Autonomy Talks - Stephanie Gil: Resilient Coordination in Networked Multi-Robot Teams

Autonomy Talks - 09/04/24

Speaker: Prof. Stephanie Gil, Harvard University

Title: Resilient Coordination in Networked Multi-Robot Teams

Abstract: Multi-robot systems are becoming more pervasive all around us, in the form of fleets of autonomous vehicles, future delivery drones, and robotic teammates for search and rescue. As a result, it becomes increasingly critical to question the robustness of their coordination algorithms to reliable information exchange, security threats and/or corrupted data. This talk will focus on the role of controland information exchange for enhancing situational awareness and security of multirobot systems. An example is the consensus problem where classical results hold that agreement cannot be reached when malicious agents make up more than half of the network connectivity; this quickly leads to limitations in the practicality of many multi-robot coordination tasks. However, with the growing prevalence of cyber-physical systems comes novel opportunities for detecting attacks by using cross-validation with physical channels of information. In this talk we consider the class of problems where the probability of a particular (i,j) link being trustworthy is available as a random variable. We refer to these as “stochastic observations of trust.” We show that under this model, strong performance guarantees such as convergence for the consensus problem can be recovered, even in the case where the number of malicious agents is greater than ½ of the network connectivity and consensus would otherwise fail. We will present both a theoretical framework, and experimental results, for provably securing multi-robot distributed algorithms through careful use of communication. Lastly, we will present promising results on new coordination methods for learning and sequential decision-making in tomorrow’s multi-robot systems.

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