Physical Sciences and Mathematics Commons^™

Attack Detection And Mitigation In Mobile Robot Formations, Arnold Fernandes

Masters Theses

"A formation of cheap and agile robots can be deployed for space, mining, patrolling, search and rescue applications due to reduced system and mission cost, redundancy, improved system accuracy, reconfigurability, and structural flexibility. However, the performance of the formation can be altered by an adversary. Therefore, this thesis investigates the effect of adversarial inputs or attacks on a nonholonomic leader-follower-based robot formation and introduces novel detection and mitigation schemes.

First, an observer is designed for each robot in the formation in order to estimate its state vector and to compute the control law. Based on the healthy operation of the …