外观
论文arXiv 2608.256902 个月前
面向韧性多机器人系统的信任感知序贯决策与 Rollout 规划
原文链接：Trust-Aware Sequential Decision Making and Rollout Planning for Resilient Multi-Robot Systems（arXiv 2608.25690 · 发布日期：2026-08-26）
Trust-Aware Sequential Decision Making and Rollout Planning for Resilient Multi-Robot Systems
针对定位欺骗下在线多机器人路由，提出信任感知监测与移除机制，并在真实GPS欺骗数据和旧金山出租车需求上验证韧性路由。
核心要点
- 多机器人序贯决策常假设规划信息可靠、执行符合预期，受陷智能体会破坏两者。
- 提出距离约束欺骗模型、分层二分匹配策略，以及融合定位信任和行为证据的监测器。
- 监测器用真实GPS欺骗数据校准概率定位信任，检测后将对手从后续规划中移除。
- 实验在多种欺骗能力、对抗规模、自适应攻击、监测配置和rollout视界下显示有效检测与韧性路由。
验证范围与局限：验证范围为使用真实GPS欺骗数据集和旧金山出租车需求的在线多机器人路由实验。
英文摘要 (Abstract)
Sequential decision-making in multi-robot systems typically assumes that planning information is reliable and that agents execute the actions anticipated by the planner. Compromised agents can violate both assumptions, creating a mismatch between the planning model and physical execution. We study this problem in online multi-robot routing under localization spoofing. We introduce a distance-constrained spoofing model for monitor-aware adversaries, together with a tiered bipartite matching strategy that maximizes assignment influence while limiting spoofing magnitude. To mitigate such attacks, we develop a trust-aware monitor that combines probabilistic localization trust, calibrated using real GPS spoofing data, with behavioral evidence from task execution to classify agents and remove detected adversaries from subsequent planning. We further show that undetected adversaries can cause rollout to lose its expected cost-improvement behavior by violating planner-execution consistency. Trust-aware removal restores this consistency after detection, enabling stable routing and recovery of rollout's empirical advantage over the base policy. Experiments using real GPS spoofing datasets and San Francisco taxicab demand demonstrate effective detection and resilient routing across varying spoofing capabilities, adversarial fleet sizes, adaptive attacks, monitoring configurations, and rollout horizons.
作者：Roee Mordechai Francos, Daniel Garces, Orhan Eren Akgün, Nathaniel D. Bastian, Stephanie Gil
来源
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