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| DC 欄位 | 值 | 語言 |
|---|---|---|
| dc.contributor.advisor | 林忠緯 | zh_TW |
| dc.contributor.advisor | Chung-Wei Lin | en |
| dc.contributor.author | 賈本晧 | zh_TW |
| dc.contributor.author | Ben-Hau Chia | en |
| dc.date.accessioned | 2023-08-15T17:40:33Z | - |
| dc.date.available | 2023-11-09 | - |
| dc.date.copyright | 2023-08-15 | - |
| dc.date.issued | 2023 | - |
| dc.date.submitted | 2023-08-05 | - |
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| dc.identifier.uri | http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/88760 | - |
| dc.description.abstract | 多智能體系統 (multi-agent system) 基於各智能體之間的溝通並合力解決問題，如智慧交通系統中的各項運輸工具，軍事系統中的各種軍事設備，機器人系統中的自主機器人等，這些智能體們在各系統中藉由合作達到單一智能體無法完成的任務。其中，定位在多智能體系統中是舉足輕重的工作之一，例如自駕車需要精準定位來達到自動駕駛。本論文考慮互聯多智能體系統的協同安全定位，並解決兩項主要問題：每個智能體有各自的定位誤差，且系統中存在刻意散佈錯誤資訊的攻擊者。針對以上問題，本論文基於可滿足性模組理論設計了建構性方法及破壞性方法，兩種方法皆嘗試使各智能體達成定位上的共識，並同時確認攻擊者存在之有無。實驗結果顯示，相較於一基準方法，建構性方法能提升攻擊者辨識的準確度，而破壞性方法可以加速取得定位共識所需時間。 | zh_TW |
| dc.description.abstract | Multi-agent systems are an emerging technology with a promising future, and positioning is a fundamental task supporting applications of multi-agent systems, with vehicles needing precise positioning to perform autonomous driving as a prime example. In this thesis, we consider cooperative positioning for connected multi-agent systems. In particular, we address the two following challenges: Each agent has its own positioning errors, and malicious agents within the group intentionally provide false information. Based on Satisfiability Modulo Theories (SMT), we design two approaches, a constructive approach and a destructive approach, to reach a positioning consensus among the agents and identify the set of potential attackers. Experimental results demonstrate that the proposed approaches improve the consensus accuracy and speed up the consensus process, respectively, compared with a baseline approach. | en |
| dc.description.provenance | Submitted by admin ntu (admin@lib.ntu.edu.tw) on 2023-08-15T17:40:33Z No. of bitstreams: 0 | en |
| dc.description.provenance | Made available in DSpace on 2023-08-15T17:40:33Z (GMT). No. of bitstreams: 0 | en |
| dc.description.tableofcontents | Acceptance Certificate ii
Acknowledgements iii Abstract (Chinese) iv Abstract v List of Tables viii List of Figures ix Chapter 1. Introduction 1 1.1 Related Work 2 1.1.1 Global Positioning System (GPS) 2 1.1.2 Non-Satellite Based Positioning 3 1.1.3 Cooperative Positioning 3 1.1.4 Simultaneous Localization and Mapping (SLAM) 3 1.1.5 Vehicular Networking and Its Security 4 1.1.6 Mobile Ad-hoc Networks (MANETs) 5 1.1.7 Vehicular Ad-hoc Networks (VANETs) 5 1.2 Background: Satisfiability Modulo Theories 5 1.3 Contributions 7 1.4 Thesis Organization 7 Chapter 2. System Model and Problem Formulation 8 2.1 Elements 10 2.2 Positioning 11 2.3 Observation 11 2.4 Attacking Strategies 13 2.5 SMT Formulation 16 Chapter 3. Proposed Approaches 20 3.1 Broadcast Protocols 20 3.2 System Flow 21 3.3 Constructive Approach 22 3.4 Destructive Approach 24 Chapter 4. Experimental Results 28 4.1 Experimental Setting 28 4.1.1 Basic Setting 28 4.1.2 Broadcast Positions Sampling 29 4.1.3 Attacker Generation 29 4.1.4 Baseline Approach 29 4.1.5 Evaluation Metrics 30 4.2 Experiments without Attackers 31 4.3 Experiments with Attackers 32 4.3.1 Different Number of Attackers and Different Da 32 4.3.2 Different T 33 4.3.3 Different M and N 34 4.4 Discussion 35 Chapter 5. Conclusions 38 Bibliography 39 Appendix 44 | - |
| dc.language.iso | en | - |
| dc.subject | 可滿足性模組理論 | zh_TW |
| dc.subject | 安全定位系統 | zh_TW |
| dc.subject | 協同定位 | zh_TW |
| dc.subject | 多智能體系統 | zh_TW |
| dc.subject | Multi-Agent System | en |
| dc.subject | Cooperative Positioning | en |
| dc.subject | Secure Positioning System | en |
| dc.subject | Satisfiability Modulo Theories | en |
| dc.title | 基於可滿足性模組理論之實數平面多智能體協同安全定位 | zh_TW |
| dc.title | Cooperative and Secure Multi-Agent Positioning on Real Coordinates Based on Satisfiability Modulo Theories | en |
| dc.type | Thesis | - |
| dc.date.schoolyear | 111-2 | - |
| dc.description.degree | 碩士 | - |
| dc.contributor.oralexamcommittee | 江介宏;蕭旭君;陳尚澤 | zh_TW |
| dc.contributor.oralexamcommittee | Jie-Hong Roland Jiang;Hsu-Chun Hsiao;Shang-Tse Chen | en |
| dc.subject.keyword | 協同定位,多智能體系統,安全定位系統,可滿足性模組理論, | zh_TW |
| dc.subject.keyword | Cooperative Positioning,Multi-Agent System,Secure Positioning System,Satisfiability Modulo Theories, | en |
| dc.relation.page | 46 | - |
| dc.identifier.doi | 10.6342/NTU202302956 | - |
| dc.rights.note | 同意授權(全球公開) | - |
| dc.date.accepted | 2023-08-08 | - |
| dc.contributor.author-college | 電機資訊學院 | - |
| dc.contributor.author-dept | 資訊工程學系 | - |
| 顯示於系所單位： | 資訊工程學系 | |
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