# GCP: Guarded Collaborative Perception with Spatial-Temporal Aware Malicious Agent Detection

arXiv: https://arxiv.org/abs/2501.02450 · HTML: https://mlsanity.com/paper/2501.02450/

## Key facts

- Cited by 8 papers in the map (data through 14 Oct 2026).
- Builds on 35 of its 49 references that are in the map.
- First posted on arXiv 5 Jan 2025.

## Builds on (most cited first, 30 of 35)

- [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)
- [CARLA: An Open Urban Driving Simulator](https://mlsanity.com/paper/1711.03938/) (2017)
- [Adversarial examples in the physical world](https://mlsanity.com/paper/1607.02533/) (2016)
- [V2VNet: Vehicle-to-Vehicle Communication for Joint Perception and Prediction](https://mlsanity.com/paper/2008.07519/) (2020)
- [Where2comm: Communication-Efficient Collaborative Perception via Spatial Confidence Maps](https://mlsanity.com/paper/2209.12836/) (2022)
- [Fast and Furious: Real Time End-to-End 3D Detection, Tracking and Motion Forecasting with a Single Convolutional Net](https://mlsanity.com/paper/2012.12395/) (2020)
- [Learning Distilled Collaboration Graph for Multi-Agent Perception](https://mlsanity.com/paper/2111.00643/) (2021)
- [Cooper: Cooperative Perception for Connected Autonomous Vehicles based on 3D Point Clouds](https://mlsanity.com/paper/1905.05265/) (2019)
- [When2com: Multi-Agent Perception via Communication Graph Grouping](https://mlsanity.com/paper/2006.00176/) (2020)
- [V2X-Sim: Multi-Agent Collaborative Perception Dataset and Benchmark for Autonomous Driving](https://mlsanity.com/paper/2202.08449/) (2022)
- [V2V4Real: A Real-world Large-scale Dataset for Vehicle-to-Vehicle Cooperative Perception](https://mlsanity.com/paper/2303.07601/) (2023)
- [Robust Collaborative 3D Object Detection in Presence of Pose Errors](https://mlsanity.com/paper/2211.07214/) (2022)
- [Collaborative Perception in Autonomous Driving: Methods, Datasets and Challenges](https://mlsanity.com/paper/2301.06262/) (2023)
- [LiDAR-based Online 3D Video Object Detection with Graph-based Message Passing and Spatiotemporal Transformer Attention](https://mlsanity.com/paper/2004.01389/) (2020)
- [DSDNet: Deep Structured self-Driving Network](https://mlsanity.com/paper/2008.06041/) (2020)
- [Asynchrony-Robust Collaborative Perception via Bird's Eye View Flow](https://mlsanity.com/paper/2309.16940/) (2023)
- [Adversarial Attacks On Multi-Agent Communication](https://mlsanity.com/paper/2101.06560/) (2021)
- [AgentsCoDriver: Large Language Model Empowered Collaborative Driving with Lifelong Learning](https://mlsanity.com/paper/2404.06345/) (2024)
- [Among Us: Adversarially Robust Collaborative Perception by Consensus](https://mlsanity.com/paper/2303.09495/) (2023)
- [Collaborative Perception for Connected and Autonomous Driving: Challenges, Possible Solutions and Opportunities](https://mlsanity.com/paper/2401.01544/) (2024)
- [AgentsCoMerge: Large Language Model Empowered Collaborative Decision Making for Ramp Merging](https://mlsanity.com/paper/2408.03624/) (2024)
- [Adaptive Communications in Collaborative Perception with Domain Alignment for Autonomous Driving](https://mlsanity.com/paper/2310.00013/) (2023)
- [PACP: Priority-Aware Collaborative Perception for Connected and Autonomous Vehicles](https://mlsanity.com/paper/2404.06891/) (2024)
- [Directed-CP: Directed Collaborative Perception for Connected and Autonomous Vehicles via Proactive Attention](https://mlsanity.com/paper/2409.08840/) (2024)
- [R-ACP: Real-Time Adaptive Collaborative Perception Leveraging Robust Task-Oriented Communications](https://mlsanity.com/paper/2410.04168/) (2024)
- [CP-Guard: Malicious Agent Detection and Defense in Collaborative Bird's Eye View Perception](https://mlsanity.com/paper/2412.12000/) (2024)
- [On Data Fabrication in Collaborative Vehicular Perception: Attacks and Countermeasures](https://mlsanity.com/paper/2309.12955/) (2023)
- [Towards Full-scene Domain Generalization in Multi-agent Collaborative Bird's Eye View Segmentation for Connected and Autonomous Driving](https://mlsanity.com/paper/2311.16754/) (2023)
- [Malicious Agent Detection for Robust Multi-Agent Collaborative Perception](https://mlsanity.com/paper/2310.11901/) (2023)

## Built on by (most cited first, 8 of 8)

- [Learning Mutual View Information Graph for Adaptive Adversarial Collaborative Perception](https://mlsanity.com/paper/2602.19596/) (2026)
- [Task-Aware Parameter-Efficient Fine-Tuning of Large Pre-Trained Models at the Edge](https://mlsanity.com/paper/2504.03718/) (2025)
- [RecoverMark: Robust Watermarking for Localization and Recovery of Manipulated Faces](https://mlsanity.com/paper/2602.20618/) (2026)
- [Decoder Gradient Shields: A Family of Provable and High-Fidelity Methods Against Gradient-Based Box-Free Watermark Removal](https://mlsanity.com/paper/2601.11952/) (2026)
- [V2VCrafter: Consistent Street-View Image Generation Across Vehicles](https://mlsanity.com/paper/2605.29471/) (2026)
- [All Vehicles Can Lie: Efficient Adversarial Defense in Fully Untrusted-Vehicle Collaborative Perception via Pseudo-Random Bayesian Inference](https://mlsanity.com/paper/2603.08498/) (2026)
- [FRUC: Feedforward Dynamic Scene Reconstruction from Uncalibrated Collaborative Driving Views](https://mlsanity.com/paper/2605.29997/) (2026)
- [Investigating Adversarial Robustness of Heterogeneous Cooperative Perception](https://mlsanity.com/paper/2609.17856/) (2026)

## Abstract (arXiv)

Collaborative perception significantly enhances autonomous driving safety by extending each vehicle's perception range through message sharing among connected and autonomous vehicles. Unfortunately, it is also vulnerable to adversarial message attacks from malicious agents, resulting in severe performance degradation. While existing defenses employ hypothesis-and-verification frameworks to detect malicious agents based on single-shot outliers, they overlook temporal message correlations, which can be circumvented by subtle yet harmful perturbations in model input and output spaces. This paper reveals a novel blind area confusion (BAC) attack that compromises existing single-shot outlier-based detection methods. As a countermeasure, we propose GCP, a Guarded Collaborative Perception framework based on spatial-temporal aware malicious agent detection, which maintains single-shot spatial consistency through a confidence-scaled spatial concordance loss, while simultaneously examining temporal anomalies by reconstructing historical bird's eye view motion flows in low-confidence regions. We also employ a joint spatial-temporal Benjamini-Hochberg test to synthesize dual-domain anomaly results for reliable malicious agent detection. Extensive experiments demonstrate GCP's superior performance under diverse attack scenarios, achieving up to 34.69% improvements in AP@0.5 compared to the state-of-the-art CP defense strategies under BAC attacks, while maintaining consistent 5-8% improvements under other typical attacks. Code will be released at https://github.com/yihangtao/GCP.git.