TY - GEN
T1 - RoboADS
T2 - 48th Annual IEEE/IFIP International Conference on Dependable Systems and Networks, DSN 2018
AU - Guo, Pinyao
AU - Kim, Hunmin
AU - Virani, Nurali
AU - Xu, Jun
AU - Zhu, Minghui
AU - Liu, Peng
N1 - Publisher Copyright:
© 2018 IEEE.
PY - 2018/7/19
Y1 - 2018/7/19
N2 - Mobile robots such as unmanned vehicles integrate heterogeneous capabilities in sensing, computation, and control. They are representative cyber-physical systems where the cyberspace and the physical world are strongly coupled. However, the safety of mobile robots is significantly threatened by cyber/physical attacks and software/hardware failures. These threats can thwart normal robot operations and cause robot misbehaviors. In this paper, we propose a novel anomaly detection system, which leverages physical dynamics of mobile robots to detect misbehaviors in sensors and actuators. We explore issues raised in real-world implementations, e.g., distinctive robot dynamic models, sensor quantity and quality, decision parameters, etc., for practicality purposes. We implement the detection system on two types of mobile robots and evaluate the detection performance against various misbehavior scenarios, including signal interference, sensor spoofing, logic bomb and physical jamming. The experiments show detection effectiveness and small detection delays.
AB - Mobile robots such as unmanned vehicles integrate heterogeneous capabilities in sensing, computation, and control. They are representative cyber-physical systems where the cyberspace and the physical world are strongly coupled. However, the safety of mobile robots is significantly threatened by cyber/physical attacks and software/hardware failures. These threats can thwart normal robot operations and cause robot misbehaviors. In this paper, we propose a novel anomaly detection system, which leverages physical dynamics of mobile robots to detect misbehaviors in sensors and actuators. We explore issues raised in real-world implementations, e.g., distinctive robot dynamic models, sensor quantity and quality, decision parameters, etc., for practicality purposes. We implement the detection system on two types of mobile robots and evaluate the detection performance against various misbehavior scenarios, including signal interference, sensor spoofing, logic bomb and physical jamming. The experiments show detection effectiveness and small detection delays.
UR - http://www.scopus.com/inward/record.url?scp=85051063754&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85051063754&partnerID=8YFLogxK
U2 - 10.1109/DSN.2018.00065
DO - 10.1109/DSN.2018.00065
M3 - Conference contribution
AN - SCOPUS:85051063754
T3 - Proceedings - 48th Annual IEEE/IFIP International Conference on Dependable Systems and Networks, DSN 2018
SP - 574
EP - 585
BT - Proceedings - 48th Annual IEEE/IFIP International Conference on Dependable Systems and Networks, DSN 2018
PB - Institute of Electrical and Electronics Engineers Inc.
Y2 - 25 June 2018 through 28 June 2018
ER -