Increasing ROS 1.x communication security for medical surgery robot

Doczi, Roland; Kis, Ferenc; Suto, Balazs; Poser, Valeria; Kronreif, Gernot; Josvai, Eszter; Kozlovszky, Miklós

doi:10.1109/smc.2016.7844931

Cited by 17 publications

(6 citation statements)

References 3 publications

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“…Roland Dóczi et al [ 23 ] proposed a security enhancement solution for ROS-based medical surgical robots. The author used authorization and authentication (AA) to eliminate security problems arising from ROS.…”

Section: Related Workmentioning

confidence: 99%

A Robot Operating System Framework for Secure UAV Communications

Lee

Yoon²,

Jang

et al. 2021

Sensors

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To perform advanced operations with unmanned aerial vehicles (UAVs), it is crucial that components other than the existing ones such as flight controller, network devices, and ground control station (GCS) are also used. The inevitable addition of hardware and software to accomplish UAV operations may lead to security vulnerabilities through various vectors. Hence, we propose a security framework in this study to improve the security of an unmanned aerial system (UAS). The proposed framework operates in the robot operating system (ROS) and is designed to focus on several perspectives, such as overhead arising from additional security elements and security issues essential for flight missions. The UAS is operated in a nonnative and native ROS environment. The performance of the proposed framework in both environments is verified through experiments.

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Section: Related Workmentioning

confidence: 99%

A Robot Operating System Framework for Secure UAV Communications

Lee

Yoon²,

Jang

et al. 2021

Sensors

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“…We further assume the underlying OS and ROS core libraries are trusted: the operational flow and data transmission are well protected, and the isolation scheme is correctly implemented so the malicious nodes are not able to hijack the honest ones or the privileged systems. How to enhance the security of the ROS core libraries [32,[38][39][40] and mitigate vulnerabilities from networks [41][42][43][44], sensors [45][46][47][48][49][50][51][52][52][53][54][55][56], actuators [57,58] and controllers [59] are orthogonal to our work.…”

Section: Threat Model and Problem Scopementioning

confidence: 99%

“…Robotic Security. Existing research on robotic security has mainly focused on traditional security issues in robot systems, e.g., network communication [38][39][40], denial-of-service attacks [32] and software vulnerabilities [59,[86][87][88][89]. In addition, adversaries can also spoof the sensory data ( [45][46][47][48][49][50][51][52][53][54][55][56]), fake the actuator signals [58], or tamper with the micro-controller input [59].…”

Section: Related Workmentioning

confidence: 99%

Risk Analysis and Policy Enforcement of Function Interactions in Robot Apps

Xu,

Zhang,

Bao

2021

Preprint

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Robot apps are becoming more automated, complex and diverse. An app usually consists of many functions, interacting with each other and the environment. This allows robots to conduct various tasks. However, it also opens a new door for cyber attacks: adversaries can leverage these interactions to threaten the safety of robot operations. Unfortunately, this issue is rarely explored in past works.We present the first systematic investigation about the function interactions in common robot apps. First, we disclose the potential risks and damages caused by malicious interactions. We introduce a comprehensive graph to model the function interactions in robot apps by analyzing 3,100 packages from the Robot Operating System (ROS) platform. From this graph, we identify and categorize three types of interaction risks. Second, we propose RT , a novel system to detect and mitigate these risks and protect the operations of robot apps. We introduce security policies for each type of risks, and design coordination nodes to enforce the policies and regulate the interactions. We conduct extensive experiments on 110 robot apps from the ROS platform and two complex apps (Baidu Apollo and Autoware) widely adopted in industry. Evaluation results indicated RT can correctly identify and mitigate all potential risks with negligible performance cost. To validate the practicality of the risks and solutions, we implement and evaluate RT on a physical UGV (Turtlebot) with real-word apps and environments.2 According to the sensor types supported by ROS [69], we further split the Recognition function into several recognition subfunctions, e.g. temperature/illuminance/humidity recognition.

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“…Dóczi et al [10] proposed for a medical surgery robot based on ROS1 the introduction of authentication and authorization (AA) mechanisms that rely on an additional AA-node to verify the identity of a node in the graph. Their goal was to overcome the delay limitation of other ROS1 oriented security solutions in mission-critical devices.…”

Section: Related Workmentioning

confidence: 99%

Procedurally Provisioned Access Control for Robotic Systems

White

Christensen

Caiazza

et al. 2018

2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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Security of robotics systems, as well as of the related middleware infrastructures, is a critical issue for industrial and domestic IoT, and it needs to be continuously assessed throughout the whole development lifecycle. The next generation open source robotic software stack, ROS2, is now targeting support for Secure DDS, providing the community with valuable tools for secure real world robotic deployments. In this work, we introduce a framework for procedural provisioning access control policies for robotic software, as well as for verifying the compliance of generated transport artifacts and decision point implementations.

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Increasing ROS 1.x communication security for medical surgery robot

Cited by 17 publications

References 3 publications

A Robot Operating System Framework for Secure UAV Communications

A Robot Operating System Framework for Secure UAV Communications

Risk Analysis and Policy Enforcement of Function Interactions in Robot Apps

Procedurally Provisioned Access Control for Robotic Systems

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