Jam Mitigation for Autonomous Convoys Via Behavior-Based Robotics

Autonomous ground vehicle convoys heavily rely on wireless communications to perform leader-follower operations, which make them particularly vulnerable to denial-of-service attacks such as jamming. To mitigate the effects of jamming on autonomous convoys, this paper proposes a behavior-based architecture, called the Behavior Manager, that utilizes layered costmaps and vector field histogram motion planning to implement motor schema behaviors. Using our proposed Behavior Manager, multiple behaviors can be created to form a convoy controller assemblage capable of continuing convoy operations while under a jamming attack. To measure the performance of our proposed solution to jammed autonomous convoying, simulated convoy runs are performed on multiple path plans under different types of jamming attacks, using both the assemblage and a basic delayed follower convoy controller. Extensive simulation results demonstrated that our proposed solution, the Behavior Manager, can be leveraged to dramatically improve the robustness of autonomous convoys when faced with jamming attacks and can be further extended due to its modular nature to combat other types of attacks through the development of additional behaviors and assemblages. When comparing the performance of the Behavior Manager convoy to that of the basic convoy controller, improvements were seen across all jammer types and path plans, ranging from 13.33% to 86.61% reductions in path error.