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.
Ward et al. (2025) studied this question.