Adriano Fagiolini Marco Pellinacci Gianni Valenti Gianluca Dini Antonio Bicchi Consensus-based distributed intrusion detection for multi-robot systems. 120-127 2008 ICRA http://dx.doi.org/10.1109/ROBOT.2008.4543196 conf/icra/2008 db/conf/icra/icra2008.html#FagioliniPVDB08