Software and Behavior Diversification for Swarm Robotics Systems

dc.contributor.authorLi, Aoen
dc.contributor.authorChang, Sinyinen
dc.contributor.authorLi, Guoruien
dc.contributor.authorChang, Yuanhauren
dc.contributor.authorFisher, Nathanen
dc.contributor.authorChantem, Thidapat (Tam)en
dc.date.accessioned2023-12-04T18:13:49Zen
dc.date.available2023-12-04T18:13:49Zen
dc.date.issued2023-11-26en
dc.date.updated2023-12-01T08:52:05Zen
dc.description.abstractInspired by natural swarms, swarm robotics systems are used in safety-critical tasks due to their scalability, redundancy, and adaptability. However, their design exposes them to two primary vulnerabilities. First, their homogeneity makes them vulnerable to large-scale attacks. Second, logical flaws within swarm algorithms can be exploited, leading to mission failures or crashes. While existing studies can effectively identify these vulnerabilities using system testing and verification, they are often time-consuming and might require repetition following software updates. To this end, we propose a complementary, two-level diversification approach. The first level tackles system homogeneity through software diversification. The second level introduces algorithmic randomness to minimize the exploitability of logical flaws. By leveraging a social force model, we can ensure that the introduced randomized behaviors do not compromise safety. Our evaluations show that the performance overheads remain within acceptable limits, notably at 2% for missions characterized by self-organizing behaviors.en
dc.description.versionPublished versionen
dc.format.mimetypeapplication/pdfen
dc.identifier.doihttps://doi.org/10.1145/3605760.3623765en
dc.identifier.urihttps://hdl.handle.net/10919/116721en
dc.language.isoenen
dc.publisherACMen
dc.rightsCreative Commons Attribution 4.0 Internationalen
dc.rights.holderThe author(s)en
dc.rights.urihttp://creativecommons.org/licenses/by/4.0/en
dc.titleSoftware and Behavior Diversification for Swarm Robotics Systemsen
dc.typeArticle - Refereeden
dc.type.dcmitypeTexten
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