Safe Multi-Robot Collaboration With Uniform Exclusion Using Trust

Thomas Kaminsky, Áron Vékássy, Hammad Izhar, Angelia Nedić, Stephanie Gil · 2026 · arXiv

DOI: 10.48550/arXiv.2610.28251 · open-access PDF

Abstract

Robot swarms coordinate through directed, time-varying local communication links, some of which may be compromised to allow the transmission of arbitrary malicious data. We provide an algorithm that acts as a wrapper around robot communication---when a robot seeks to update its state using data from some incoming links, our wrapper provides a subset of trusted links whose data can be safely incorporated. It selects these links by testing a stream of trust values---data collected from an anomaly detector on each robot---using Safe Anytime-Valid Inference. We require only that the detector be be

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