Secure communication for the robot operating system

Breiling, Benjamin; Dieber, Bernhard; Schartner, Peter

doi:10.1109/syscon.2017.7934755

Cited by 54 publications

(21 citation statements)

References 17 publications

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“…It reveals messages to unauthorized persons (breach of confidentiality), cannot detect unauthorized intentional or unintentional alteration of messages (violation of integrity), cannot prove that the involved parties (e.g. publishers, subscribers) are who they say they are [7], [12].…”

Section: Background Studymentioning

confidence: 99%

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CryptoROS: A Secure Communication Architecture for ROS-Based Applications

Amini¹,

Sulaiman

Rahman³

2018

ijacsa

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Cyber-attacks are a growing threat to future robots. The shift towards automatization has increased relevance and reliance on robots. Securing robots has been secondary or ternary priority and thus robots are vulnerable to cyber-attacks. Securing robots must become an essential (built-in) part of the design rather than being considered as a subsequent (later) addon. ROS is a widely used and popular open source framework and robots using ROS are increasing in popularity. However, ROS is vulnerable to cyber-attacks. ROS needs to be secured before robots using ROS reach mass market. This study aims at proposing an architecture to secure ROS, using cryptography mechanism, which addresses the most common ROS safety issues. The advantages of our proposed secure architecture, CryptoROS, is that no changes to ROS software libraries and tools is required, it works with all ROS client libraries (e.g. rospy, roscpp) and rebuilding nodes is not necessary.

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Section: Background Studymentioning

confidence: 99%

“…In [7] the authors described a concept similar to SROS but implemented by changing the roscpp client library. However, it fails to secure the master and the request / response sent / received via XML-RPC.…”

Section: Background Studymentioning

confidence: 99%

CryptoROS: A Secure Communication Architecture for ROS-Based Applications

Amini¹,

Sulaiman

Rahman³

2018

ijacsa

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“…Recent efforts have been made in order to add security features to ROS such as TLS and DTLS [12] for secure communication between nodes, web tokens for achieving secure authentication for remote access [26], and cryptographic methods that ensure data confidentiality and integrity [14]. The ROS group has also begun work on SROS [28], a security suite for ROS systems, still highly experimental and not fully implemented into the core ROS framework.…”

Section: Introductionmentioning

confidence: 99%

ROS-Defender: SDN-Based Security Policy Enforcement for Robotic Applications

Rivera

Lagraa

Nita-Rotaru

et al. 2019

2019 IEEE Security and Privacy Workshops (SPW)

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In this paper we propose ROS-Defender, a holistic approach to secure robotics systems, which integrates a Security Event Management System (SIEM), an intrusion prevention system (IPS) and a firewall for a robotic system. ROS-Defender combines anomaly detection systems at application (ROS) level and network level, with dynamic policy enforcement points using software defined networking (SDN) to provide protection against a large class of attacks. Although SIEMs, IPS, and firewall have been previously used to secure computer networks, ROS-Defender is applying them for the specific use case of robotic systems, where security is in many cases an afterthought.

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“…The second approach is based on the use of traditional Kernel security tools. It is centered around the development of SROS (White et al, 2016) and uses TLS (Breiling et al, 2017) to secure communications. However, SROS is a highly experimental solution and still under heavy development, 3 and it has not been used in any robot in production until now.…”

Section: Introductionmentioning

confidence: 99%

Message Encryption in Robot Operating System: Collateral Effects of Hardening Mobile Robots

et al. 2018

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In human-robot interaction situations, robot sensors collect huge amounts of data from the environment in order to characterize the situation. Some of the gathered data ought to be treated as private, such as medical data (i.e., medication guidelines), personal, and safety information (i.e., images of children, home habits, alarm codes, etc.). However, most robotic software development frameworks are not designed for securely managing this information. This paper analyzes the scenario of hardening one of the most widely used robotic middlewares, Robot Operating System (ROS). The study investigates a robot's performance when ciphering the messages interchanged between ROS nodes under the publish/subscribe paradigm. In particular, this research focuses on the nodes that manage cameras and LIDAR sensors, which are two of the most extended sensing solutions in mobile robotics, and analyzes the collateral effects on the robot's achievement under different computing capabilities and encryption algorithms (3DES, AES, and Blowfish) to robot performance. The findings present empirical evidence that simple encryption algorithms are lightweight enough to provide cyber-security even in lowpowered robots when carefully designed and implemented. Nevertheless, these techniques come with a number of serious drawbacks regarding robot autonomy and performance if they are applied randomly. To avoid these issues, we define a taxonomy that links the type of ROS message, computational units, and the encryption methods. As a result, we present a model to select the optimal options for hardening a mobile robot using ROS.

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Secure communication for the robot operating system

Cited by 54 publications

References 17 publications

CryptoROS: A Secure Communication Architecture for ROS-Based Applications

CryptoROS: A Secure Communication Architecture for ROS-Based Applications

ROS-Defender: SDN-Based Security Policy Enforcement for Robotic Applications

Message Encryption in Robot Operating System: Collateral Effects of Hardening Mobile Robots

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