{"id":"https://openalex.org/W4383108781","doi":"https://doi.org/10.1109/icra48891.2023.10160385","title":"Exploiting Trust for Resilient Hypothesis Testing with Malicious Robots","display_name":"Exploiting Trust for Resilient Hypothesis Testing with Malicious Robots","publication_year":2023,"publication_date":"2023-05-29","ids":{"openalex":"https://openalex.org/W4383108781","doi":"https://doi.org/10.1109/icra48891.2023.10160385"},"language":"en","primary_location":{"id":"doi:10.1109/icra48891.2023.10160385","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48891.2023.10160385","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5015631276","display_name":"Matthew Cavorsi","orcid":"https://orcid.org/0000-0002-3052-250X"},"institutions":[{"id":"https://openalex.org/I136199984","display_name":"Harvard University","ror":"https://ror.org/03vek6s52","country_code":"US","type":"education","lineage":["https://openalex.org/I136199984"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Matthew Cavorsi","raw_affiliation_strings":["School of Engineering and Applied Sciences, Harvard University,USA","School of Engineering and Applied Sciences, Harvard University, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Engineering and Applied Sciences, Harvard University,USA","institution_ids":["https://openalex.org/I136199984"]},{"raw_affiliation_string":"School of Engineering and Applied Sciences, Harvard University, USA","institution_ids":["https://openalex.org/I136199984"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5081192643","display_name":"Orhan Eren Akg\u00fcn","orcid":"https://orcid.org/0009-0006-9551-2819"},"institutions":[{"id":"https://openalex.org/I136199984","display_name":"Harvard University","ror":"https://ror.org/03vek6s52","country_code":"US","type":"education","lineage":["https://openalex.org/I136199984"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Orhan Eren Akg\u00fcn","raw_affiliation_strings":["School of Engineering and Applied Sciences, Harvard University,USA","School of Engineering and Applied Sciences, Harvard University, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Engineering and Applied Sciences, Harvard University,USA","institution_ids":["https://openalex.org/I136199984"]},{"raw_affiliation_string":"School of Engineering and Applied Sciences, Harvard University, USA","institution_ids":["https://openalex.org/I136199984"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5074718726","display_name":"Michal Yemini","orcid":"https://orcid.org/0000-0002-2087-1183"},"institutions":[{"id":"https://openalex.org/I13955877","display_name":"Bar-Ilan University","ror":"https://ror.org/03kgsv495","country_code":"IL","type":"education","lineage":["https://openalex.org/I13955877"]}],"countries":["IL"],"is_corresponding":false,"raw_author_name":"Michal Yemini","raw_affiliation_strings":["Bar-Ilan University,Faculty of Engineering,Israel","Faculty of Engineering, Bar-Ilan University, Israel"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Bar-Ilan University,Faculty of Engineering,Israel","institution_ids":["https://openalex.org/I13955877"]},{"raw_affiliation_string":"Faculty of Engineering, Bar-Ilan University, Israel","institution_ids":["https://openalex.org/I13955877"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5074116801","display_name":"Andrea Goldsmith","orcid":"https://orcid.org/0000-0001-5686-800X"},"institutions":[{"id":"https://openalex.org/I20089843","display_name":"Princeton University","ror":"https://ror.org/00hx57361","country_code":"US","type":"education","lineage":["https://openalex.org/I20089843"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Andrea J. Goldsmith","raw_affiliation_strings":["Princeton University,Department of Electrical and Computer Engineering,USA","Department of Electrical and Computer Engineering, Princeton University, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Princeton University,Department of Electrical and Computer Engineering,USA","institution_ids":["https://openalex.org/I20089843"]},{"raw_affiliation_string":"Department of Electrical and Computer Engineering, Princeton University, USA","institution_ids":["https://openalex.org/I20089843"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5102705342","display_name":"Stephanie Gil","orcid":"https://orcid.org/0000-0002-3964-2049"},"institutions":[{"id":"https://openalex.org/I136199984","display_name":"Harvard University","ror":"https://ror.org/03vek6s52","country_code":"US","type":"education","lineage":["https://openalex.org/I136199984"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Stephanie Gil","raw_affiliation_strings":["School of Engineering and Applied Sciences, Harvard University,USA","School of Engineering and Applied Sciences, Harvard University, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Engineering and Applied Sciences, Harvard University,USA","institution_ids":["https://openalex.org/I136199984"]},{"raw_affiliation_string":"School of Engineering and Applied Sciences, Harvard University, USA","institution_ids":["https://openalex.org/I136199984"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.2843,"has_fulltext":false,"cited_by_count":14,"citation_normalized_percentile":{"value":0.90415642,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":95,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"7663","last_page":"7669"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11689","display_name":"Adversarial Robustness in Machine Learning","score":0.9990000128746033,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11689","display_name":"Adversarial Robustness in Machine Learning","score":0.9990000128746033,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12879","display_name":"Distributed Sensor Networks and Detection Algorithms","score":0.9987999796867371,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10764","display_name":"Privacy-Preserving Technologies in Data","score":0.9923999905586243,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.84392249584198},{"id":"https://openalex.org/keywords/exploit","display_name":"Exploit","score":0.7254391312599182},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7148584127426147},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4838939607143402},{"id":"https://openalex.org/keywords/adversarial-system","display_name":"Adversarial system","score":0.48246505856513977},{"id":"https://openalex.org/keywords/communication-source","display_name":"Communication source","score":0.44795525074005127},{"id":"https://openalex.org/keywords/frame","display_name":"Frame (networking)","score":0.441449373960495},{"id":"https://openalex.org/keywords/patrolling","display_name":"Patrolling","score":0.430446594953537},{"id":"https://openalex.org/keywords/statistical-hypothesis-testing","display_name":"Statistical hypothesis testing","score":0.4109949767589569},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.3605163097381592},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.3533477783203125},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.17943450808525085},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.10976731777191162}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.84392249584198},{"id":"https://openalex.org/C165696696","wikidata":"https://www.wikidata.org/wiki/Q11287","display_name":"Exploit","level":2,"score":0.7254391312599182},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7148584127426147},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4838939607143402},{"id":"https://openalex.org/C37736160","wikidata":"https://www.wikidata.org/wiki/Q1801315","display_name":"Adversarial system","level":2,"score":0.48246505856513977},{"id":"https://openalex.org/C198104137","wikidata":"https://www.wikidata.org/wiki/Q974688","display_name":"Communication source","level":2,"score":0.44795525074005127},{"id":"https://openalex.org/C126042441","wikidata":"https://www.wikidata.org/wiki/Q1324888","display_name":"Frame (networking)","level":2,"score":0.441449373960495},{"id":"https://openalex.org/C110698143","wikidata":"https://www.wikidata.org/wiki/Q651389","display_name":"Patrolling","level":2,"score":0.430446594953537},{"id":"https://openalex.org/C87007009","wikidata":"https://www.wikidata.org/wiki/Q210832","display_name":"Statistical hypothesis testing","level":2,"score":0.4109949767589569},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.3605163097381592},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.3533477783203125},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.17943450808525085},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.10976731777191162},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra48891.2023.10160385","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48891.2023.10160385","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions","score":0.8100000023841858}],"awards":[{"id":"https://openalex.org/G504375663","display_name":null,"funder_award_id":"FA9550-22-1-0223,002484665","funder_id":"https://openalex.org/F4320338279","funder_display_name":"Air Force Office of Scientific Research"}],"funders":[{"id":"https://openalex.org/F4320338279","display_name":"Air Force Office of Scientific Research","ror":"https://ror.org/011e9bt93"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":47,"referenced_works":["https://openalex.org/W603865522","https://openalex.org/W1576034712","https://openalex.org/W1602737492","https://openalex.org/W1958812812","https://openalex.org/W1972743861","https://openalex.org/W1995010230","https://openalex.org/W2015513948","https://openalex.org/W2046135376","https://openalex.org/W2081696099","https://openalex.org/W2107069798","https://openalex.org/W2109335648","https://openalex.org/W2154212907","https://openalex.org/W2288481136","https://openalex.org/W2465322783","https://openalex.org/W2472475467","https://openalex.org/W2509214171","https://openalex.org/W2586538048","https://openalex.org/W2609732983","https://openalex.org/W2781738357","https://openalex.org/W2784248185","https://openalex.org/W2801607016","https://openalex.org/W2899132041","https://openalex.org/W2901743858","https://openalex.org/W2946763530","https://openalex.org/W2949845527","https://openalex.org/W2964302474","https://openalex.org/W2980867612","https://openalex.org/W3047315308","https://openalex.org/W3100092097","https://openalex.org/W3109653279","https://openalex.org/W3173247673","https://openalex.org/W3173716491","https://openalex.org/W3182413560","https://openalex.org/W3203064452","https://openalex.org/W3206079449","https://openalex.org/W3217190539","https://openalex.org/W4283462857","https://openalex.org/W4301587546","https://openalex.org/W4315472316","https://openalex.org/W4383108781","https://openalex.org/W6763411566","https://openalex.org/W6781642121","https://openalex.org/W6786624798","https://openalex.org/W6797949073","https://openalex.org/W6802003239","https://openalex.org/W6839374400","https://openalex.org/W6843075403"],"related_works":["https://openalex.org/W170273588","https://openalex.org/W2337788814","https://openalex.org/W2092973197","https://openalex.org/W2404411151","https://openalex.org/W2163146706","https://openalex.org/W3206391274","https://openalex.org/W167683769","https://openalex.org/W2332242917","https://openalex.org/W2095900292","https://openalex.org/W2374340569"],"abstract_inverted_index":{"We":[0,70,162,180,214,236],"develop":[1,130],"a":[2,32,185,189,199,211],"resilient":[3,28],"binary":[4],"hypothesis":[5,160],"testing":[6],"frame-work":[7],"for":[8,219,261],"decision":[9,29],"making":[10,30],"in":[11,44,104,184,204,245],"adversarial":[12],"multi-robot":[13],"crowdsensing":[14,194],"tasks.":[15],"This":[16],"framework":[17],"exploits":[18],"stochastic":[19],"trust":[20,94,146,217],"observations":[21,147,218],"between":[22],"robots":[23,43,90,114,192,243],"to":[24,74,148,167,206,210,257],"arrive":[25],"at":[26,31],"tractable,":[27],"centralized":[33],"Fusion":[34],"Center":[35],"(FC)":[36],"even":[37,239],"when":[38,240],"i)":[39],"there":[40],"exist":[41],"malicious":[42,107,113,127,242],"the":[45,54,61,80,87,99,105,110,120,131,141,150,158,216,231,234,241,246,248,252,262,265],"network":[46,202],"and":[47,59,96,145,157,259,264],"their":[48,154],"number":[49,55],"may":[50],"be":[51],"larger":[52],"than":[53],"of":[56,89,101,112,122,126,152,191,195,233,254],"legitimate":[57],"robots,":[58,128,153],"ii)":[60],"FC":[62,249],"uses":[63,139],"one-shot":[64],"noisy":[65],"measurements":[66,144],"from":[67,222],"all":[68],"robots.":[69],"derive":[71],"two":[72],"algorithms":[73,183],"achieve":[75],"this.":[76],"The":[77],"first":[78],"is":[79,115],"Two":[81],"Stage":[82],"Approach":[83],"(2SA)":[84],"that":[85,138,169,238],"estimates":[86],"legitimacy":[88],"based":[91],"on":[92,198,230],"received":[93],"observations,":[95],"provably":[97],"minimizes":[98],"probability":[100,253],"detection":[102,255],"error":[103,256],"worst-case":[106],"attack.":[108,213],"Here,":[109],"proportion":[111,125],"known":[116],"but":[117],"arbitrary.":[118],"For":[119],"case":[121],"an":[123],"unknown":[124,177],"we":[129],"Adversarial":[132],"Generalized":[133],"Likelihood":[134],"Ratio":[135],"Test":[136],"(A-GLRT)":[137],"both":[140,182],"reported":[142],"robot":[143,221],"estimate":[149],"trustworthiness":[151],"reporting":[155],"strategy,":[156],"correct":[159],"simultaneously.":[161],"exploit":[163],"special":[164],"problem":[165,178],"structure":[166],"show":[168,237],"this":[170],"approach":[171],"remains":[172],"computationally":[173],"tractable":[174],"despite":[175],"several":[176],"parameters.":[179],"deploy":[181],"hardware":[186],"experiment":[187],"where":[188],"group":[190],"conducts":[193],"traffic":[196],"conditions":[197],"mock-up":[200],"road":[201],"similar":[203],"spirit":[205],"Google":[207],"Maps,":[208],"subject":[209],"Sybil":[212],"extract":[215],"each":[220],"actual":[223],"communication":[224],"signals":[225],"which":[226],"provide":[227],"statistical":[228],"information":[229],"uniqueness":[232],"sender.":[235],"are":[244],"majority,":[247],"can":[250],"reduce":[251],"30.5%":[258],"29%":[260],"2SA":[263],"A-GLRT":[266],"respectively.":[267]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":4}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
