Multi-robot path finding testbed in wireless networks against malicious attacks

Within a decade, a malicious attack aware network design is of critical importance in an internet of things (IoT) network where the attack frequency coincidentally increases with communication throughput. The main motivation of this article is to apply wireless communication to cooperative path-finding scenario with multiple robots. For this propose, we propose a controllable communication-frequency algorithm (CCF) for deriving the optimal communicating frequency that maximizes the mission accomplished speed. This algorithm determines the optimal communication frequency according to the communication environment with malicious attacks. We report its performance by real implementation on BLE-based Arduino shield bots. We show the effects of cooperative multi-robots with malicious attacks and our proposed algorithm performance is evaluated where it achieves up to mission accomplished speed increase compared to the case without CCF.