Abstract
The active introduction of robotics swarm systems into life brings the issues of their information security up to date. Known security approaches often do not take into account the peculiarities of the implementation of swarm systems, such as collective design-making, and only consider the presence of Byzantine robots with a strategy of behavior consisting in voting against a majority when a consensus is reached. The aim of this work is to increase the security of the collective design-making process in a swarm robotics system from the imposition of false and ineffective alternatives by Byzantine robots with a random behavior strategy. It is proposed to use an approach based on the use of a distributed ledger and analysis of deviations in the process of collective design-making, which will allow identifying and isolating harmful effects. The solution to the problem of detecting Byzantine robots is based on the application of the criterion of the degree of confidence of a robot in choosing an alternative when a consensus is reached by the swarm system and is based on the assumption that the distribution of the degree of confidence of a Byzantine robot due to ignoring the parameters of the external environment and voting for random alternatives is significantly different from the behavior an ordinary robot. The elements of novelty of the presented solution include the use of the degree of confidence criterion to ensure the safety of collective design-making and the ability to take into account various strategies of behavior of Byzantine robots. The use of the presented solution makes it possible to increase the efficiency of reaching consensus by a swarm robotics system in the presence of Byzantine robots. The simulation for a swarm of 20 robots, including 5 Byzantine ones with random behavior, showed an increase in the probability of correctly reaching a consensus by 12.5%. The practical significance of the presented solutions lies in the possibility of ensuring the stability of reaching consensus by a swarm robotics system in the presence of robots with harmful behavior.
Highlights
The active introduction of robotics swarm systems into life brings the issues of their information security up to date
The essence of the application of distributed ledger technologies in the tasks of ensuring information security of collective design-making and coordination is that a collective solution in a SWARM ROBOTICS SYSTEMS can be achieved in a completely decentralized way, and the goals of using consensus achievement algorithms in blockchain systems are similar to the goals of collective design-making in swarm robotics systems [12,13,14,15]
The goal of this study to improve the security of collective design-making in swarm robotics systems by detecting and isolating a Byzantine robots (BR) with random behavior has been achieved
Summary
The active introduction of robotics swarm systems into life brings the issues of their information security up to date. The aim of this work is to increase the security of the collective design-making process in a swarm robotics system from the imposition of false and ineffective alternatives by Byzantine robots with a random behavior strategy. With an increase in the number of Byzantine robots (BR), the efficiency of the swarm robotics systems [6] is significantly reduced due to the imposition of ineffective or random alternatives in the process of collective design-making. The essence of the application of distributed ledger technologies in the tasks of ensuring information security of collective design-making and coordination is that a collective solution in a SWARM ROBOTICS SYSTEMS can be achieved in a completely decentralized way, and the goals of using consensus achievement algorithms in blockchain systems are similar to the goals of collective design-making in swarm robotics systems [12,13,14,15]
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