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Trust-Aware Sequential Decision Making and Rollout Planning for Resilient Multi-Robot Systems

arXiv · AI, language, vision and robotics · article · Aug 26, 2026 · UTC

Sequential decision-making in multi-robot systems typically assumes that planning information is reliable and that agents execute the actions anticipated by the planner. Compromised agents can violate both assumptions, creating a mismatch between the planning model and physical execution. We study this problem in online multi-robot routing under localization spoofing. We introduce a distance-constrained spoofing model for monitor-aware adversaries, together with a tiered bipartite matching strategy that maximizes assignment influence while limiting spoofing magnitude. To mitigate such attacks,

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