Network Structures as an Attack Surface: Topology-Based Privacy Leakage in Federated Learning

Federated learning systems increasingly rely on diverse network topologies to address scalability and organizational constraints. While existing privacy research focuses on gradient-based attacks, the privacy implications of network topology knowledge remain critically understudied. We conduct the first comprehensive analysis of topology-based privacy leakage across realistic adversarial knowledge scenarios, demonstrating that adversaries with varying degrees of structural knowledge can infer sensitive data distribution patterns even under strong differential privacy guarantees. Through systematic evaluation of 4,720 attack instances, we analyze six distinct adversarial knowledge scenarios: complete topology knowledge and five partial knowledge configurations reflecting real-world deployment constraints. We propose three complementary attack vectors: communication pattern analysis, parameter magnitude profiling, and structural position correlation, achieving success rates of 84.1%, 65.0%, and 47.2% under complete knowledge conditions. Critically, we find that 80% of realistic partial knowledge scenarios maintain attack effectiveness above security thresholds, with certain partial knowledge configurations achieving performance superior to the baseline complete knowledge scenario. To address these vulnerabilities, we propose and empirically validate structural noise injection as a complementary defense mechanism across 808 configurations, demonstrating up to 51.4% additional attack reduction when properly layered with existing privacy techniques. These results establish that network topology represents a fundamental privacy vulnerability in federated learning systems while providing practical pathways for mitigation through topology-aware defense mechanisms.

Intermittent Deployment for Large-Scale Multi-Robot Forage Perception: Data Synthesis, Prediction, and Planning

Monitoring the health and vigor of grasslands is vital for informing management decisions to optimize rotational grazing in agriculture applications. To take advantage of forage resources and improve land productivity, we require knowledge of pastureland growth patterns that is simply unavailable at state of the art. In this paper, we propose to deploy a team of robots to monitor the evolution of an unknown pastureland environment to fulfill the above goal. To monitor such an environment, which usually evolves slowly, we need to design a strategy for rapid assessment of the environment over large areas at a low cost. Thus, we propose an integrated pipeline comprising of data synthesis, deep neural network training and prediction along with a multi-robot deployment algorithm that monitors pasturelands intermittently. Specifically, using expert-informed agricultural data coupled with novel data synthesis in ROS Gazebo, we first propose a new neural network architecture to learn the spatiotemporal dynamics of the environment. Such predictions help us to understand pastureland growth patterns on large scales and make appropriate monitoring decisions for the future. Based on our predictions, we then design an intermittent multi-robot deployment policy for low-cost monitoring. Finally, we compare the proposed pipeline with other methods, from data synthesis to prediction and planning, to corroborate our pipeline's performance.