网络攻击下基于分布式意图识别的集群逃逸与汇聚控制  

Swarm escape and convergence control based on distributed intent recognition under network attack

作　　者：张祥银 张曦梁[1,2] 张天 ZHANG Xiang-yin;ZHANG Xi-liang;ZHANG Tian(Faculty of Information Technology,Beijing University of Technology,Beijing 100124,China;Engineering Research Centre of Digital Community of Ministry of Education,Beijing 100124,China;Beijing Institute of Artificial Intelligence,Beijing University of Technology,Beijing 100124,China)

机构地区：[1]北京工业大学信息学部,北京100124 [2]数字社区教育部工程研究中心,北京100124 [3]北京工业大学北京人工智能研究院,北京100124

出　　处：《控制与决策》2024年第12期4171-4180,共10页Control and Decision

基　　金：国家自然科学基金项目(62373015)。

摘　　要：多机器人或无人机组成的集群在执行任务的过程中,当探测到未知外部个体时,需要识别其意图来决定如何应对.然而,集群内部节点会受到针对测量信号的干扰攻击,导致对外部个体的测量存在误差,进而影响到对其意图的识别.针对此问题,设计一种考虑网络攻击的基于分布式意图识别的集群控制算法.在该算法中,集群内部执行集群控制律,当探测到未知外部个体时,集群内部各个节点采用攻击识别算法来识别其是否受到网络攻击;然后,利用基于攻击识别策略的分布式卡尔曼滤波算法,对外部个体的状态进行分布式状态估计,以最大程度上削弱网络攻击对测量值的影响;接着,利用Fréchet距离计算期望轨迹与测量轨迹的相似性,并采用基于分布式共识算法来判断该外部个体的意图,作出逃逸或汇聚控制.仿真结果验证了所提方法的有效性.When a swarm composed of multiple robots or drones detects an unknown external node during the execution of a task,it needs to identify its intention to decide how to respond.However,the internal nodes of the swarm will be attacked against the measurement signal,resulting in increased measurement error,and then the intention identification of the external nodes will fail,posing a threat to the swarm.To solve this problem,a distributed control algorithm for swarm which considers the network attack is designed.In this algorithm,the control law is the flocking algorithm.When an unknown external node is detected,firstly,the internal node determines whether it is under network attack based on the designed attack recognition algorithm.Then,according to the distributed Kalman filtering based on attack identification strategy,the state of external nodes is estimated to minimize the impact of network attacks.Next,the similarity between the expected trajectory and the measured trajectory is calculated according to the Fréchet distance,and the distributed consensus algorithm is used to judge the intention of the external node,control swarm escape or converge.Finally,the effectiveness of the proposed method is demonstrated by simulation results.

关 键 词：网络攻击 分布式估计 集群控制 卡尔曼滤波 攻击识别 状态估计 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]