Resilient Multi-Agent Consensus Using Wi-Fi Signals
Stephanie Gil, Cenk Baykal, Daniela Rus
Consensus is an important capability at the heart of many multi-agent systems. Unfortunately the ability to reach consensus can be easily disrupted by the presence of an adversarial agent that spawns or spoofs malicious nodes in the network in order to gain a disproportionate influence on the converged value of the system as a whole. In this letter, we present a light-weight approach for spoof-resiliency with provable guarantees that solely utilizes information from wireless signals. Unlike prior approaches, our method requires no additional protocol or data storage beyond signals that are already present in the network. We establish an analytical, probabilistic bound on the influence of spoofed nodes in the system on the converged consensus value. We present results of our Wi-Fi based resilient consensus algorithm and demonstrate its effectiveness for different consensus problems such as flocking and rendezvous.