CryptoROS: A Secure Communication Architecture for ROS-Based Applications

Amini, Roham; Sulaiman, Riza; Rahman, Abdul Hadi Abd

doi:10.14569/ijacsa.2018.091022

Cited by 12 publications

(4 citation statements)

References 10 publications

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“…The proposed architecture of CryptoROS has been described in Amini et al [16]. It focused on providing peer-topeer conversations between nodes, which capable of ensuring confidentiality and performing integrity violation check.…”

Section: Cryptoros Structurementioning

confidence: 99%

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Evaluation of Peer Robot Communications using CryptoROS

Rahman

Sulaiman

Sani

et al. 2019

IJACSA

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The demand of cloud robotics makes data encryption essential for peer robot communications. Certain types of data such as odometry, action controller and perception data need to be secured to prevent attacks. However, the introduction of data encryption caused increment of overhead for data stream communication. This paper presents an evaluation of CryptoROS architecture on Robot Operating System (ROS) which focused on peer-to-peer conversations between nodes with confidentiality and integrity violation. OpenSSL is used to create a private key and generate a Certificate Signing Request (CSR) that contains public key and a signature. The CSR is submitted to a Certificate Authority (CA) to chain the root CA certificate and encryption of RSA private key with AES-256 and a passphrase. The protected private key are securely backed up, transported, and stored. Experiments were carried out multiple times with and without the proposed protocol intervention to assess the performance impact of the Manager. The results for different number of messages transmitted each time increased from 100, 250 to 500 with performance impact 1.7%, 0.5% and 0.2%, respectively. It is concluded that CryptoROS capable of protecting messages and service requests from unauthorized intentional alteration with authenticity verification in all components.

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Section: Cryptoros Structurementioning

confidence: 99%

“…Measurement of performances were measured based on; i) overhead for the initial handshake, ii) pure transportation overhead and iii) overhead in a normal application [15]. Therefore, this paper aims to evaluate basic performance of CryptoROS architecture as proposed in [16] with a specific data type.…”

Section: Introductionmentioning

confidence: 99%

Evaluation of Peer Robot Communications using CryptoROS

Rahman

Sulaiman

Sani

et al. 2019

IJACSA

Self Cite

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“…This becomes even more evident when considering widely used robotic frameworks, such as Robot Operating System (ROS), which has become a standard across both industry and academia. Multiple researchers have studied the security flaws of ROS [19], and proposed approaches to address these issues [20]. Many of these are also being mitigated in the newest version, ROS 2 [21].…”

Section: Introductionmentioning

confidence: 99%

Secure Encoded Instruction Graphs for End-to-End Data Validation in Autonomous Robots

Queralta

Ferrer

et al. 2022

IEEE Internet Things J.

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As autonomous robots are becoming more widespread, more attention is being paid to the security of robotic operation. Autonomous robots can be seen as cyberphysical systems: they can operate in virtual, physical, and human realms. Therefore, securing the operations of autonomous robots requires not only securing their data (e.g., sensor inputs and mission instructions) but securing their interactions with their environment. There is currently a deficiency of methods that would allow robots to securely ensure their sensors and actuators are operating correctly without external feedback. This paper introduces an encoding method and end-to-end validation framework for the missions of autonomous robots. In particular, we present a proof of concept of a map encoding method, which allows robots to navigate realistic environments and validate operational instructions with almost zero a priori knowledge. We demonstrate our framework using two different encoded maps in experiments with simulated and real robots. Our encoded maps have the same advantages as typical landmark-based navigation, but with the added benefit of cryptographic hashes that enable end-to-end information validation. Our method is applicable to any aspect of robotic operation in which there is a predefined set of actions or instructions given to the robot.

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“…Among them, the Robot Operating System (ROS) has become a standard across both industry and academia. Multiple researchers have studied the security flaws of ROS [20], and proposed different approaches to address these issues [21]. Moreover, many of these are being mitigated in the newest version, ROS2 [22].…”

Section: Introductionmentioning

confidence: 99%

Secure Encoded Instruction Graphs for End-to-End Data Validation in Autonomous Robots

Queralta,

Qingqing,

Ferrer

et al. 2020

Preprint

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As autonomous robots become increasingly ubiquitous, more attention is being paid to the security of robotic operation. Autonomous robots can be seen as cyber-physical systems that transverse the virtual realm and operate in the human dimension. As a consequence, securing the operation of autonomous robots goes beyond securing data, from sensor input to mission instructions, towards securing the interaction with their environment. There is a lack of research towards methods that would allow a robot to ensure that both its sensors and actuators are operating correctly without external feedback. This paper introduces a robotic mission encoding method that serves as an end-to-end validation framework for autonomous robots. In particular, we put our framework into practice with a proof of concept describing a novel map encoding method that allows robots to navigate an objective environment with almost-zero a priori knowledge of it, and to validate operational instructions. We also demonstrate the applicability of our framework through experiments with real robots for two different map encoding methods. The encoded maps inherit all the advantages of traditional landmark-based navigation, with the addition of cryptographic hashes that enable end-to-end information validation. This end-to-end validation can be applied to virtually any aspect of robotic operation where there is a predefined set of operations or instructions given to the robot.

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CryptoROS: A Secure Communication Architecture for ROS-Based Applications

Cited by 12 publications

References 10 publications

Evaluation of Peer Robot Communications using CryptoROS

Evaluation of Peer Robot Communications using CryptoROS

Secure Encoded Instruction Graphs for End-to-End Data Validation in Autonomous Robots

Secure Encoded Instruction Graphs for End-to-End Data Validation in Autonomous Robots

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