妨害電波下での自律走行車の耐障害性制御ループ：スペクトル認識とネットワーク層フェイルオーバーによる実現
Resilient Control Loops in Autonomous Vehicles Under Adversarial Jamming via Spectral Perception and Network-Layer Failover
自律移動ロボットの無線制御ループを妨害電波から守るため、物理層のスペクトル認識とネットワーク層の経路最適化を組み合わせた耐障害性フレームワークを提案し、ROS2搭載ロボットで通信復旧時間を平均141msに短縮、追従誤差を78.9%削減した。
著者: Luis Barajas, Colin Jeardoe, Jaewon Kim, Eman Hammad
分類: eess.SY, cs.MA
原文アブストラクト
The operational integrity of autonomous mobile robots relies on the continuous availability of wireless control loops, making them highly attractive targets for adversarial intentional electromagnetic interference. This paper introduces a resilient, cross-layer framework that combines physical-layer spectral perception with network-layer routing optimization to protect middleware stability, such as ROS2, during intentional electromagnetic interference. Utilizing a software-defined radio front-end, the system extracts dynamic spectral descriptors, including spectral entropy and channel occupancy, to inform a Random Forest classifier that establishes adaptive environmental baselines. To ensure uninterrupted data flow, the architecture maintains dual pre-authenticated physical interfaces in a hot-standby configuration, enabling instantaneous failover through automated network routing table updates. Empirical validation on a physical ROS2 mobile robot testbed demonstrates that this adaptive hardware-assisted architecture optimizes communication recovery to an average of 141ms. This sub-second restoration translates directly into a 78.9% reduction in pooled root-mean-square path tracking error compared to software re-association, successfully securing system-level mission integrity.