RoboADS: Anomaly detection against sensor and actuator misbehaviors in mobile robots

Pinyao Guo, Hunmin Kim, Nurali Virani, Jun Xu, Minghui Zhu, Peng Liu

Research output: Chapter in Book/Report/Conference proceedingConference contribution

7 Scopus citations

Abstract

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.

Original languageEnglish (US)
Title of host publicationProceedings - 48th Annual IEEE/IFIP International Conference on Dependable Systems and Networks, DSN 2018
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages574-585
Number of pages12
ISBN (Electronic)9781538655955
DOIs
StatePublished - Jul 19 2018
Event48th Annual IEEE/IFIP International Conference on Dependable Systems and Networks, DSN 2018 - Luxembourg City, Luxembourg
Duration: Jun 25 2018Jun 28 2018

Publication series

NameProceedings - 48th Annual IEEE/IFIP International Conference on Dependable Systems and Networks, DSN 2018

Other

Other48th Annual IEEE/IFIP International Conference on Dependable Systems and Networks, DSN 2018
CountryLuxembourg
CityLuxembourg City
Period6/25/186/28/18

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All Science Journal Classification (ASJC) codes

  • Safety, Risk, Reliability and Quality
  • Computer Networks and Communications
  • Hardware and Architecture
  • Energy Engineering and Power Technology

Cite this

Guo, P., Kim, H., Virani, N., Xu, J., Zhu, M., & Liu, P. (2018). RoboADS: Anomaly detection against sensor and actuator misbehaviors in mobile robots. In Proceedings - 48th Annual IEEE/IFIP International Conference on Dependable Systems and Networks, DSN 2018 (pp. 574-585). [8416517] (Proceedings - 48th Annual IEEE/IFIP International Conference on Dependable Systems and Networks, DSN 2018). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/DSN.2018.00065