In recent years the number of security incidents affecting control systems has increased. These incidents have shown the need to develop strategies to improve system resilience to cyber-attacks. This paper presents a practical implementation of a strategy to detect cyber-attacks and mitigate their effects on sensors of a multi-agent system. The proposed approach computes, in real-time, a convex combination of measurements from main and redundant sensors, producing a trust value of the measurement and feeding it to the controller. We implemented this approach on a testbed of ground robots in formation. Experimental results to various kinds of attacks and a key performance index show that the proposed strategy reduces the effects of attacks not only on the affected agent, but also prevents the propagation of the attack over the remaining agents.

中文翻译：

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动态数据集成可抵御多代理系统中的传感器攻击

近年来，影响控制系统的安全事件数量有所增加。这些事件表明需要制定策略来提高系统对网络攻击的适应能力。本文提出了一种策略的实际实施，以检测网络攻击并减轻其对多主体系统传感器的影响。所提出的方法实时计算来自主传感器和冗余传感器的测量的凸组合，产生测量的信任值并将其馈送到控制器。我们在编队的地面机器人测试台上实施了这种方法。对各种攻击和关键性能指标的实验结果表明，该策略不仅降低了攻击对受影响代理的影响，而且还防止了攻击在其余代理上的传播。