Detection of Anomalies in the Robotic System Based on the Calculation of Kullback-Leibler Divergence

This study is devoted to the problem of detecting anomalous behavior of nodes of a robotic system based on network traffic analysis. This article addresses the issue of analyzing changes in the level of network traffic passing through a network node in order to detect denial of service attacks and a black hole attack. To solve this problem, the authors propose to use probabilistic and statistical methods, as well as methods of information theory. The robot wireless network model was developed to collect statistics.