Title: Exploiting Physical Dynamics to Detect Actuator and Sensor Attacks in Mobile Robots,
Abstract: Mobile robots are cyber-physical systems where the cyberspace and the
physical world are strongly coupled. Attacks against mobile robots can
transcend cyber defenses and escalate into disastrous consequences in the
physical world. In this paper, we focus on the detection of active attacks that
are capable of directly influencing robot mission operation. Through leveraging
physical dynamics of mobile robots, we develop RIDS, a novel robot intrusion
detection system that can detect actuator attacks as well as sensor attacks for
nonlinear mobile robots subject to stochastic noises. We implement and evaluate
a RIDS on Khepera mobile robot against concrete attack scenarios via various
attack channels including signal interference, sensor spoofing, logic bomb, and
physical damage. Evaluation of 20 experiments shows that the averages of false
positive rates and false negative rates are both below 1%. Average detection
delay for each attack remains within 0.40s.