Exploiting Physical Dynamics to Detect Actuator and Sensor Attacks in Mobile Robots
This addresses security vulnerabilities in mobile robots, which are critical for preventing physical-world disasters, though it is an incremental improvement in intrusion detection methods.
The paper tackles the problem of detecting active attacks on mobile robots by developing RIDS, a robot intrusion detection system that exploits physical dynamics, achieving false positive and false negative rates below 1% and detection delays under 0.40s in evaluations.
Mobile robots are cyber-physical systems where the cyberspace and the physical world are strongly coupled. Attacks against mobile robots can transcend cyber defenses and escalate into disastrous consequences in the physical world. In this paper, we focus on the detection of active attacks that are capable of directly influencing robot mission operation. Through leveraging physical dynamics of mobile robots, we develop RIDS, a novel robot intrusion detection system that can detect actuator attacks as well as sensor attacks for nonlinear mobile robots subject to stochastic noises. We implement and evaluate a RIDS on Khepera mobile robot against concrete attack scenarios via various attack channels including signal interference, sensor spoofing, logic bomb, and physical damage. Evaluation of 20 experiments shows that the averages of false positive rates and false negative rates are both below 1%. Average detection delay for each attack remains within 0.40s.