# AdvGPS: Adversarial GPS for Multi-Agent Perception Attack

arXiv: https://arxiv.org/abs/2401.17499 · HTML: https://mlsanity.com/paper/2401.17499/

## Key facts

- Cited by 5 papers in the map (data through 14 Oct 2026).
- Builds on 20 of its 26 references that are in the map.
- First posted on arXiv 30 Jan 2024.

## Builds on (most cited first, 20 of 20)

- [Explaining and Harnessing Adversarial Examples](https://mlsanity.com/paper/1412.6572/) (2014)
- [Towards Deep Learning Models Resistant to Adversarial Attacks](https://mlsanity.com/paper/1706.06083/) (2017)
- [Towards Evaluating the Robustness of Neural Networks](https://mlsanity.com/paper/1608.04644/) (2016)
- [Adversarial examples in the physical world](https://mlsanity.com/paper/1607.02533/) (2016)
- [PointPillars: Fast Encoders for Object Detection from Point Clouds](https://mlsanity.com/paper/1812.05784/) (2018)
- [VoxelNet: End-to-End Learning for Point Cloud Based 3D Object Detection](https://mlsanity.com/paper/1711.06396/) (2017)
- [V2X-ViT: Vehicle-to-Everything Cooperative Perception with Vision Transformer](https://mlsanity.com/paper/2203.10638/) (2022)
- [OPV2V: An Open Benchmark Dataset and Fusion Pipeline for Perception with Vehicle-to-Vehicle Communication](https://mlsanity.com/paper/2109.07644/) (2021)
- [CoBEVT: Cooperative Bird's Eye View Semantic Segmentation with Sparse Transformers](https://mlsanity.com/paper/2207.02202/) (2022)
- [F-Cooper: Feature based Cooperative Perception for Autonomous Vehicle Edge Computing System Using 3D Point Clouds](https://mlsanity.com/paper/1909.06459/) (2019)
- [V2V4Real: A Real-world Large-scale Dataset for Vehicle-to-Vehicle Cooperative Perception](https://mlsanity.com/paper/2303.07601/) (2023)
- [Improving Black-box Adversarial Attacks with a Transfer-based Prior](https://mlsanity.com/paper/1906.06919/) (2019)
- [Bridging the Domain Gap for Multi-Agent Perception](https://mlsanity.com/paper/2210.08451/) (2022)
- [Model-Agnostic Multi-Agent Perception Framework](https://mlsanity.com/paper/2203.13168/) (2022)
- [Learning for Vehicle-to-Vehicle Cooperative Perception under Lossy Communication](https://mlsanity.com/paper/2212.08273/) (2022)
- [Learning to Communicate and Correct Pose Errors](https://mlsanity.com/paper/2011.05289/) (2020)
- [Curls & Whey: Boosting Black-Box Adversarial Attacks](https://mlsanity.com/paper/1904.01160/) (2019)
- [Evading DeepFake Detectors via Adversarial Statistical Consistency](https://mlsanity.com/paper/2304.11670/) (2023)
- [Fooling LiDAR Perception via Adversarial Trajectory Perturbation](https://mlsanity.com/paper/2103.15326/) (2021)
- [SoK: Rethinking Sensor Spoofing Attacks against Robotic Vehicles from a Systematic View](https://mlsanity.com/paper/2205.04662/) (2022)

## Built on by (most cited first, 5 of 5)

- [V2X-DGW: Domain Generalization for Multi-agent Perception under Adverse Weather Conditions](https://mlsanity.com/paper/2403.11371/) (2024)
- [CoMamba: Real-time Cooperative Perception Unlocked with State Space Models](https://mlsanity.com/paper/2409.10699/) (2024)
- [V2X-DG: Domain Generalization for Vehicle-to-Everything Cooperative Perception](https://mlsanity.com/paper/2503.15435/) (2025)
- [AngleRoCL: Angle-Robust Concept Learning for Physically View-Invariant T2I Adversarial Patches](https://mlsanity.com/paper/2506.09538/) (2025)
- [Integrated Simulation Framework for Adversarial Attacks on Autonomous Vehicles](https://mlsanity.com/paper/2509.05332/) (2025)

## Abstract (arXiv)

The multi-agent perception system collects visual data from sensors located on various agents and leverages their relative poses determined by GPS signals to effectively fuse information, mitigating the limitations of single-agent sensing, such as occlusion. However, the precision of GPS signals can be influenced by a range of factors, including wireless transmission and obstructions like buildings. Given the pivotal role of GPS signals in perception fusion and the potential for various interference, it becomes imperative to investigate whether specific GPS signals can easily mislead the multi-agent perception system. To address this concern, we frame the task as an adversarial attack challenge and introduce textscAdvGPS, a method capable of generating adversarial GPS signals which are also stealthy for individual agents within the system, significantly reducing object detection accuracy. To enhance the success rates of these attacks in a black-box scenario, we introduce three types of statistically sensitive natural discrepancies: appearance-based discrepancy, distribution-based discrepancy, and task-aware discrepancy. Our extensive experiments on the OPV2V dataset demonstrate that these attacks substantially undermine the performance of state-of-the-art methods, showcasing remarkable transferability across different point cloud based 3D detection systems. This alarming revelation underscores the pressing need to address security implications within multi-agent perception systems, thereby underscoring a critical area of research.