Robotic Security Proposal Study

Existing Vulnerabilities

  1. sensor data spoofing
  2. tamper controller input
  3. ROS vulnerability: auth, DoS, BoF, etc.
  4. A summary: image-20200806232643434

Objectives and Specific Aims

The objective of this proposal is to design a secure and efficient multi-robot system, providing comprehensive protections for the workloads’ data and executions

  1. Systematization of knowledge about vulnerabilities in robot applications: understand the problems through literature review; develop tools for security scanning.

    1.1 Characterize the vulnerabilities in robot workloads

    1.2 Develop software tools to evaluate and analyze robot workloads

  2. Property-based attestation for multi-robot systems.

    2.1 Identify security properties for robot applications.

    2.2 Design and develop architecture for property-based attestation.

    2.3 Design a blockchain-based decentralized attestation protocol.

  3. Information flow tracking in multi-robot systems: detect security violations

    3.1 Design and develop a two-level static data flow tracking methodology.

    3.2 Design and develop a three-level dynamic control flow tracking technique.

  4. Policy enforcement in multi-robot systems.

    4.1 Identify security policies for robot applications.

    4.2 Design and develop a policy-based execution enforcement methodology.

    4.3 Design and develop a policy-based data encryption methodology.

Risk Analysis and Security Policy Enforcement

Summary

Identify and categorize three kinds of interaction risks; detect and mitigate these risks through security policies; Evaluation

Function Interaction Analysis

  1. Categorization: Perception, Planning, Control, Drivers, Others
  2. App analysis: Remote Control, 2D/3D mapping, Navigation, SLAM (map/localization), Face/Person Detection

Risk Analysis

  1. General Risks
  2. Robot Specific Risks
  3. App Specific Risks

Mitigation Methodology

  1. Coordination Node
  2. Security Policy

Evaluation

  1. Risk Identification
  2. Risk Mitigation: (1) CN analysis (2) Policy Selection (3)
  3. Overhead

Evaluation Metrics

Exploration

  1. https://yzrobot.github.io/publications/yz15iros.pdf

time, cost (sub of distance travelled by each robot), efficiency (information over cost), map completeness, map quality

Time and map completeness seems to be two counter metrics, where limiting one will cause impact on the other.

  1. https://www.researchgate.net/publication/221908028_Quantitative_Performance_Metrics_for_Mobile_Robots_Navigation

Number of successful tasks, path length, time, collisions, obstacle clearance, etc.

Security related, trajectory towards goal, smoothness of trajectory.

Questions for Multi-robot System

Materials

Multi-robot system course: http://u.cs.biu.ac.il/~yehoshr1/89-689/

multi-robot system example

  1. Multiple robot car path search: http://wiki.ros.org/tuw_multi_robot
  2. IEEE: Localization Strategy Based on Multi-Robot Collaboration for Indoor Service Robot Applications
  3. L-ALLIANCE: TASK-ORIENTED MULTI-ROBOT LEARNING IN BEHAVIOR-BASED SYSTEMS： http://citeseerx.ist.psu.edu/viewdoc/download?doi=10.1.1.17.9595&rep=rep1&type=pdf
  4. A multi-robot system discussion on ROS forum: https://answers.ros.org/question/41627/multi-robot-systems-framework-in-ros/
  5. Multi TIAGo Simulation: http://wiki.ros.org/Robots/TIAGo/Tutorials/Multi_TIAGo_simulation