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Ants have evolved to seek and retrieve food by leaving trails of pheromones.This mechanism has inspired several approaches to decentralized multi-robotcoordination. However, in this paper, we show that pheromone trails are afragile mechanism for coordination, and can be sabotaged to starve the colony.We introduce detractors: malicious agents that leave a misleading, butindistinguishable, trail of food pheromone to distract and trap cooperator antsin the nest. We analyze the effectiveness of detractors with respect toparameters such as evaporation rate of misleading pheromone and fraction ofdetractors in the colony. In addition, we propose a countermeasure to thisattack by introducing a new type of pheromone: the cautionary pheromone.Cooperator ants secrete this type of pheromone atop existing food trails as awarning. When the cautionary pheromone intensity exceeds the food pheromoneintensity, cooperator ants ignore overlapping food pheromone. We show that,despite its simplicity, this defense mechanism can limit, but not nullify, theeffect of detractors. Ultimately, our work shows that pheromone-basedcoordination, while effective, is also fragile.

Hacking the Colony: On the Disruptive Effect of Misleading Pheromone and How to Defend Against It