Secure state reconstruction in differentially flat systems under sensor attacks using satisfiability modulo theory solving

Shoukry, Yasser; Nuzzo, Pierluigi; Bezzo, Nicola; Sangiovanni‐Vincentelli, Alberto; Seshia, Sanjit A.; Tabuada, Paulo

doi:10.1109/cdc.2015.7402810

Cited by 25 publications

(18 citation statements)

References 20 publications

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“…Instead of imposing restrictions on the attack signal a i (t) itself, we assume q-sparsity on the set of attack signals {a i } i∈ [p] , motivated by the rationale that the attack resource is limited so that only a portion of the sensors is compromised (see [9]- [11], [13], [14]).…”

Section: A Problem Formulationmentioning

confidence: 99%

Detection of Sensor Attack and Resilient State Estimation for Uniformly Observable Nonlinear Systems having Redundant Sensors

Kim¹,

Lee²,

Shim³

et al. 2019

IEEE Trans. Automat. Contr.

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This paper presents a detection algorithm for sensor attacks and a resilient state estimation scheme for a class of uniformly observable nonlinear systems. An adversary is supposed to corrupt a subset of sensors with the possibly unbounded signals, while the system has sensor redundancy. We design an individual high-gain observer for each measurement output so that only the observable portion of the system state is obtained. Then, a nonlinear error correcting problem is solved by collecting all the information from those partial observers and exploiting redundancy. A computationally efficient, on-line monitoring scheme is presented for attack detection. Based on the attack detection scheme, an algorithm for resilient state estimation is provided. The simulation results demonstrate the effectiveness of the proposed algorithm.

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Section: A Problem Formulationmentioning

confidence: 99%

Detection of Sensor Attack and Resilient State Estimation for Uniformly Observable Nonlinear Systems having Redundant Sensors

Kim¹,

Lee²,

Shim³

et al. 2019

IEEE Trans. Automat. Contr.

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“…PROOF. To formalize the result, we make use of the fact that any undetectable attack (7) can be written in the form…”

Section: Design Of Optimal Undetectable Attacksmentioning

confidence: 99%

Secure trajectory planning against undetectable spoofing attacks

2020

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This paper studies, for the first time, the trajectory planning problem in adversarial environments, where the objective is to design the trajectory of a robot to reach a desired final state despite the unknown and arbitrary action of an attacker. In particular, we consider a robot moving in a two-dimensional space and equipped with two sensors, namely, a Global Navigation Satellite System (GNSS) sensor and a Radio Signal Strength Indicator (RSSI) sensor. The attacker can arbitrarily spoof the readings of the GNSS sensor and the robot control input so as to maximally deviate its trajectory from the nominal precomputed path. We derive explicit and constructive conditions for the existence of undetectable attacks, through which the attacker deviates the robot trajectory in a stealthy way. Conversely, we characterize the existence of secure trajectories, which guarantee that the robot either moves along the nominal trajectory or that the attack remains detectable. We show that secure trajectories can only exist between a subset of states, and provide a numerical mechanism to compute them. We illustrate our findings through several numerical studies, and discuss that our methods are applicable to different models of robot dynamics, including unicycles. More generally, our results show how control design affects security in systems with nonlinear dynamics.

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“…Related Work: Concerns about safety and security of CPS are not new, as the numerous manuscripts on systems attack/fault detection, isolation, and recovery testify -e.g., [38], [39], [40], [41], [42], [43], [44], [45], [46], [47], [48], [49], [50], [51], [52], [53], [54]. Currently, there exist several approaches to designing monitors ranging from simple sensor thresholding techniques to more complex data-driven learning approaches.…”

Section: Introductionmentioning

confidence: 99%

Parameter-Invariant Monitor Design for Cyber–Physical Systems

et al. 2018

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The tight interaction between information technology and the physical world inherent in Cyber-Physical Systems (CPS) can challenge traditional approaches for monitoring safety and security. Data collected for robust CPS monitoring is often sparse and may lack rich training data describing critical events/attacks. Moreover, CPS often operate in diverse environments that can have significant inter/intra-system variability. Furthermore, CPS monitors that are not robust to data sparsity and inter/intra-system variability may result in inconsistent performance and may not be trusted for monitoring safety and security. Towards overcoming these challenges, this paper presents recent work on the design of parameter-invariant (PAIN) monitors for CPS. PAIN monitors are designed such that unknown events and system variability minimally affect the monitor performance. This work describes how PAIN designs can achieve a constant false alarm rate (CFAR) in the presence of data sparsity and intra/inter system variance in real-world CPS. To demonstrate the design of PAIN monitors for safety monitoring in CPS with different types of dynamics, we consider systems with networked dynamics, linear-time invariant dynamics, and hybrid dynamics that are discussed through case studies for building actuator fault detection, meal detection in type I diabetes, and detecting hypoxia caused by pulmonary shunts in infants. In all applications, the PAIN monitor is shown to have (significantly) less variance in monitoring performance and (often) outperforms other competing approaches in the literature. Finally, an initial application of PAIN monitoring for CPS security is presented along with challenges and research directions for future security monitoring deployments. Disciplines Computer Engineering | Computer Sciences Comments

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Secure state reconstruction in differentially flat systems under sensor attacks using satisfiability modulo theory solving

Cited by 25 publications

References 20 publications

Detection of Sensor Attack and Resilient State Estimation for Uniformly Observable Nonlinear Systems having Redundant Sensors

Detection of Sensor Attack and Resilient State Estimation for Uniformly Observable Nonlinear Systems having Redundant Sensors

Secure trajectory planning against undetectable spoofing attacks

Parameter-Invariant Monitor Design for Cyber–Physical Systems

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