HoLA Robots: Mitigating plan-deviation attacks in multi-robot systems using coordinated observations and lookahead-limited announcements

HoLA Robots mitigates plan-deviation attacks in centralized multi-robot systems: compromised robots deviate from the motion plan and lie about their positions to conceal their whereabouts. The defense is implemented by a central entity generating a coordinated observation schedule, combined with robots' local sensing to observe each other and detect attacks, and by lookahead-limited announcements to reduce robots' knowledge of lookahead steps of the global plan, achieving prevention. On a large-scale automated warehouse benchmark, the scheme can provide attack prevention guarantees against stealthy attackers that have compromised multiple robots.