Safe Multi-Robot Collaboration With Uniform Exclusion Using Trust

Key points

• Robot swarms coordinate through directed, time-varying local communication links, some of which may be compromised to allow the transmission of arbitrary malicious data.1
• It selects these links by testing a stream of trust values---data collected from an anomaly detector on each robot---using Safe Anytime-Valid Inference.1
• We study our Safe Wrapper's performance in hardware for two contrasting tasks---neural implicit mapping and heading consensus---deploying on 3 LoCoBots and 8 GoPiGos, respectively.1
• We provide simulations using trust values sampled from hardware to validate that our approach scales well to swarms of hundreds of robots.1

Sources (1)

• [1]Safe Multi-Robot Collaboration With Uniform Exclusion Using Trust
  arXiv (AI, ML, NLP, CV, robotics, multi-agent) · Oct 20, 02:11 PM

  We provide an algorithm that acts as a wrapper around robot communication---when a robot seeks to update its state using data from some incoming links, our wrapper provides a subset of trusted links whose data can be safely incorporated.

  Robot swarms coordinate through directed, time-varying local communication links, some of which may be compromised to allow the transmission of arbitrary malicious data.

Extractive summary: sentences quoted from the sources.