Swarm robotics is the study of how a large number of relatively simple robots can be designed so that a desired collective behaviour emerges from the local interactions among robots and between the robots and their environment. While many aspects of a swarm may be modelled as various types of ad hoc networks, and accordingly many aspects of security of the swarm may be achieved by conventional means, here we will focus on swarm emergent behaviour as something that most distinguishes swarm robotics from ad hoc networks. We discuss the challenges emergent behaviour poses on communications security, and by classifying a swarm by types of robots, types of communication channels, and types of adversaries, we examine what classes may be secured by traditional methods and focus on aspects that are most relevant to allowing emergent behaviour. We will examine how this can be secured by ensuring that communication is secure. We propose a simple solution using hash chains, and by modelling swarm communications using a series of random graphs, we show that this allows us to identify rogue robots with a high probability.
翻译：摇篮机器人是研究如何设计大量相对简单的机器人,以便从机器人之间以及机器人与环境之间的当地相互作用中产生一种理想的集体行为。虽然群群的许多方面可以仿照各种类型的临时网络,因此,群群中安全的许多方面可以通过常规手段实现,但在这里,我们将集中关注群群中新出现的行为,将其作为最能区分散装机器人和临时网络的方法。我们讨论了新出现的行为对通信安全构成的挑战,并按机器人类型、通信渠道类型和对手类型进行分类,我们研究传统方法可以确保哪些类别的安全,并侧重于与允许突发行为最相关的方面。我们将研究如何通过确保通信安全来保证这一点。我们提出使用散列链的简单解决方案,并通过使用一系列随机图表模拟群集通信,我们表明这使我们能够识别极有可能发现的无赖机器人。
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