Byzantine localizationExpert
Who Went Where When on the Lunar Surface: Forensic Trajectory Analysis to Identify Byzantine Rovers
This preprint introduces a forensic trajectory analysis method for co-located lunar rover missions where some rovers may provide miscalibrated or deliberately falsified telemetry. An attribution-aware credibility method rejects whole non-credible rovers rather than individual outlier measurements and reconstructs trajectories from the remaining sources. In simulation it recalled up to 90.8% of non-credible measurements versus under 8% for robust pose-graph baselines, and on planetary-analogue data it was the only method to unambiguously expose a safety-zone incursion.