Browse Publications Technical Papers 2019-01-1077

Trust-based Control and Scheduling for UGV Platoon under Cyber Attacks 2019-01-1077

Unmanned ground vehicles (UGVs) may encounter difficulties accommodating environmental uncertainties and system degradations during harsh conditions. However, human experience and on-board intelligence can help mitigate such cases. Unfortunately, human operators have cognition limits when directly supervising multiple UGVs which may reduce operational performance. Ideally, an automated decision-making system can be designed that empowers collaboration between the human operator and UGVs. In this paper, a connected UGV platoon, vehicle-to-vehicle (V2V) and vehicle-to-cloud (V2C), experiences a cyber-attack which may disrupt the mission. In the proposed framework, an observer-based resilient control strategy is designed to mitigate the effects of V2V cyber-attacks. In addition, each UGV also generates an internal, or self, and external, or surrounding neighbors, evaluation based on the platoon’s performance metrics. A cloud-based trust-based information management system collects these evaluations and detects abnormal UGV platoon behavior. In dealing with inaccurate information due to a V2C cyber-attack, a RoboTrust algorithm analyzes vehicle trustworthiness and eliminates information with low credit. Finally, a human operator scheduling algorithm is proposed when the number of abnormal UGVs exceeds the limit of what human operators can handle. Representative simulation results demonstrate that the proposed automated decision-making system can effectively guide human operators when working with platoons under cyber-attack. The platoon survivability has been improved by the proposed algorithm when compared to those that operate without this system.


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