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Abstract
Simulating hostile attacks of physical autonomous systems can be a useful
tool to examine their robustness to attack and inform vulnerability-aware
design. In this work, we examine this through the lens of multi-robot patrol,
by presenting a machine learning-based adversary model that observes robot
patrol behavior in order to attempt to gain undetected access to a secure
environment within a limited time duration. Such a model allows for evaluation
of a patrol system against a realistic potential adversary, offering insight
into future patrol strategy design. We show that our new model outperforms
existing baselines, thus providing a more stringent test, and examine its
performance against multiple leading decentralized multi-robot patrol
strategies.