# Sybil-Resilient Multi-Drone Exploration of Indoor and Confined Spaces

- Source: arXiv cs.RO
- Published: 2026-10-27T04:00:00.000Z
- RoboHot: https://robohot.news/en/items/qegd8onhfn7qpp1c24gj9pn3d
- Original: https://arxiv.org/abs/2610.33906

## Summary

The paper studies the problem of Sybil attacks during multi-drone collaborative exploration of buildings: a compromised drone forges identities, claims frontiers, and sends fabricated scans, causing real drones to miss areas and generating nonexistent walls in the map. The authors propose five defenses that rely only on the drones' own sensors and maps, including auditing map data, checking for a body's presence at an identity's claimed location, trusting only identities whose bodies have been observed, quarantining identities unobserved by any drone, and binding each observed body to a single identity.