RoboRebound: Multi-Robot System Defense with Bounded-Time Interaction

Byzantine Fault Tolerance (BFT) is a classic technique for defending distributed systems against a wide range of faults and attacks. However, existing solutions are designed for systems where nodes can interact only by exchanging messages. They are not directly applicable to systems where nodes have sensors and actuators and can also interact in the physical world - perhaps by blocking each other's path or by crashing into each other.