通过操控信号强度制造定位幻觉，让机器人误入目标位置。
Optimal Control of Sensor-Induced Illusions on Robotic Agents
- 用信号干扰改变接收者的位置估算。
- 确保接收者以为抵达目标，实则到达指定偏移位置。
- 适用于安全测试与智能导航对抗场景。
本文提出一种新问题：在两个智能体（接收者与生产者）之间，通过调控信号强度来制造定位与导航幻觉。接收者在平面上移动，依靠三个已知信号塔的信号强度进行自身定位，并基于该估计执行简单策略前往目标。生产者通过调节信号强度，改变接收者的定位估计，使其在误以为已抵达目标的情况下，实际到达另一目的地。本文给出了该问题的精确数学建模，证明可运用经典控制理论方法生成所需的定位与导航幻觉，实现期望的接收者行为。
原文摘要 · Abstract (English)
This paper presents a novel problem of creating and regulating localization and navigation illusions considering two agents: a receiver and a producer. A receiver is moving on a plane localizing itself using the intensity of signals from three known towers observed at its position. Based on this position estimate, it follows a simple policy to reach its goal. The key idea is that a producer alters the signal intensities to alter the position estimate of the receiver while ensuring it reaches a different destination with the belief that it reached its goal. We provide a precise mathematical formulation of this problem and show that it allows standard techniques from control theory to be applied to generate localization and navigation illusions that result in a desired receiver behavior.
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