Security for the Robot Operating System

Dieber, Bernhard; Breiling, Benjamin; Taurer, Sebastian; Kacianka, Severin; Raß, Stefan; Schartner, Peter

doi:10.1016/j.robot.2017.09.017

Cited by 123 publications

(69 citation statements)

References 20 publications

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“…As described in [37][38][39], ROS suffers from significant security issues. In our work, we address this issue by introducing an authentication system for the users that want to access the web pages hosted on the public server (as shown in Figure 3).…”

Section: Discussionmentioning

confidence: 99%

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A Plug and Play Transparent Communication Layer for Cloud Robotics Architectures

2020

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The cloud robotics paradigm aims at enhancing the abilities of robots by using cloud services, but it still poses several challenges in the research community. Most of the current literature focuses on how to enrich specific robotic capabilities, overlooking how to effectively establish communication between the two fields. Our work proposes a "plug-and-play" solution to bridge the communication gap between cloud and robotic applications. The proposed solution is designed based on the mature WebSocket technology and it can be extended to any ROS-based robotic platform. The main contributions of this work are the definition of a reliable autoconnection/autoconfiguration mechanism as well as to outline a scalable communication layer that allows the effective control of multiple robots from multiple users. The "plug-and-play" solution was evaluated in both simulated and real scenarios. In the first case, the presence of users and robots was simulated with Robot Operating System (ROS) nodes running on five machines. In the real scenario, three non-expert users teleoperated, simultaneously, three remote robots by using the proposed communication layer with different networking protocols. Results confirmed the reliability at different levels: at startup (success_rate = 100%); during high-rate communications (message_lost = 0%); in performing open-loop spiral trajectories with enhancement, with respect to similar works; and in the quality of simultaneous teleoperations.

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Section: Discussionmentioning

confidence: 99%

“…It was computed as the count of receptions of the total messages sent. Furthermore, we evaluated the communication bandwith by using iperf [36] and we limited the server bandwidth through Wondershaper [37]. Test 2 was repeated 10 times, each time using five user-robot pairs.…”

Section: Test 2: High Rates Communicationmentioning

confidence: 99%

A Plug and Play Transparent Communication Layer for Cloud Robotics Architectures

2020

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“…In addition to compliance, the Keymint policy compilation process can also ensure the transport artifacts result in a faithful interpretation of the original symbolic policy. For example, ComArmor's un-ordered rules sets and deny overrides must be considered accordingly when translating to Secure DDS default plugin permission structure given that its Policy 4 for rule in rules do 18: domain ← subject.domain in rule.domainSet 19: criteria ← rule.get(subject.action.type) 20: Action types: publish, subscribe, relay 21: match ← CHECKCRITERIA(criteria, subject) 22: if domain and match then Decision Point (PDP) evaluates upon the first found matching rule in an ordered list. Thus ComArmor deny rules must be arranged in the list as to always be considered first for a given object.…”

Section: B Keymintmentioning

confidence: 99%

“…In robotic networks, we can find a significant number of devices that need to operate in conjunction with each other. In such cases, as discussed by Dieber et al [4], the information security pillars of Confidentiality, Integrity and Availability (CIA) that are generally applied to secure information systems assume different priorities.…”

Section: Introductionmentioning

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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“…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%

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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Security for the Robot Operating System

Cited by 123 publications

References 20 publications

A Plug and Play Transparent Communication Layer for Cloud Robotics Architectures

A Plug and Play Transparent Communication Layer for Cloud Robotics Architectures

Procedurally Provisioned Access Control for Robotic Systems

CryptoROS: A Secure Communication Architecture for ROS-Based Applications

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