Sybil-Resilient Multi-Drone Exploration of Indoor and Confined Spaces
Overview
This research investigates how Sybil attacks can compromise multi-drone exploration in indoor and confined spaces, where compromised drones create fake identities to claim frontiers and fabricate scans. The study evaluates five attack types and five defense strategies that use only drones' own sensors and maps. Simulation results show that quarantine mechanisms can restore exploration performance to baseline levels in most scenarios, though some edge cases, such as colluding attackers and complex environments, require additional safeguards.
From arXiv Robotics — research abstracts
Event evidence and corrections
0 attributed source owners. Ownership does not establish independent confirmation. Quantities are reported separately and are never added together.
Environment: simulation
“nt where an identity claims to be, trust only for identities whose body has been seen, a quarantine for identities that no drone has observed, and a rule that binds each observed body to one identity. Tests in simulation cover 70 maps of seven kinds, from offices and tunnels to three-storey buildings and caves. Without a defence, one compromised drone leaves on average up to 25% of a map unexplored (45% in offices),”
Exact source · revision 1Source owner not reported
Reported quantity · number of missions: 2350 other · reported trials
“odies to identities fixes the last three. Over 2,350 missions, an honest drone was revoked by a teammate only twice.”
Exact source · revision 1Source owner not reported
Reported quantity · number of caves: 10 other · Basis not reported
“and the floor-sealing attacker cuts the explored part of a three-storey building to 82.3%, or 34.6% on the worst map. The quarantine brings exploration back to the level of an unattacked team in every setting, and in most settings it also brings the false data back to that level. The exceptions are two colluding attackers, fakes placed next to real drones, three of the ten caves and a team of 16 drones, and binding b”
Exact source · revision 1Source owner not reported
Evidence dependency changes (2)
- 2026-10-30T19:48:36.026Z · evidence updated · source revision 1. Evidence extraction was updated; current source attributions are shown above.
- 2026-10-30T19:48:34.133Z · evidence updated · source revision 1. Evidence extraction was updated; current source attributions are shown above.
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- arXiv Robotics — research abstractsSignalSybil-Resilient Multi-Drone Exploration of Indoor and Confined Spaces
This research investigates how Sybil attacks can compromise multi-drone exploration in indoor and confined spaces, where compromised drones create fake identities to claim frontiers and fabricate scans. The study evaluates five attack types and five defense strategies that use only drones' own sensors and maps. Simulation results show that quarantine mechanisms can restore exploration performance to baseline levels in most scenarios, though some edge cases, such as colluding attackers and complex environments, require additional safeguards.
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