相关论文: Exploiting Physical Dynamics to Detect Actuator an…

The security issue of mobile robots has attracted considerable attention in recent years. In this paper, we propose an intelligent physical attack to trap mobile robots into a preset position by learning the obstacle-avoidance mechanism…

Social Robots need to be safe and reliable to share their space with humans. This paper reports on the first results of a research project that aims to create more safe and reliable, intelligent autonomous robots by investigating the…

The motion of robots and objects in our world is often highly dependent upon contact. When contact is expected but does not occur or when contact is not expected but does occur, robot behavior diverges from plan, often disastrously. This…

Verifying the correct behavior of robots in contact tasks is challenging due to model uncertainties associated with contacts. Standard methods for testing often fall short since all (uncountable many) solutions cannot be obtained. Instead,…

Intelligent robots rely on object detection models to perceive the environment. Following advances in deep learning security it has been revealed that object detection models are vulnerable to adversarial attacks. However, prior research…

Autonomous and Robotics Systems (ARSs) are widespread, complex, and increasingly coming into contact with the public. Many of these systems are safety-critical, and it is vital to detect software errors to protect against harm. We propose a…

The application of autonomous mobile robots in robotic security platforms is becoming a promising field of innovation due to their adaptive capability of responding to potential disturbances perceived through a wide range of sensors.…

In this paper, we develop estimation and control methods for quickly reacting to collisions between omnidirectional mobile platforms and their environment. To enable the full-body detection of external forces, we use torque sensors located…

With the increasing integration of cyber-physical systems (CPS) into critical applications, ensuring their resilience against cyberattacks is paramount. A particularly concerning threat is the vulnerability of CPS to deceptive attacks that…

It is imperative to develop an intrusion prevention system (IPS), specifically designed for autonomous robotic systems. This is due to the unique nature of these cyber-physical systems (CPS), which are not merely typical distributed…

Robotic systems are vulnerable to False Data Injection Attacks (FDIAs), where adversaries corrupt sensor signals to gain malicious control. Feedback linearization exposes robotic systems to integrator vulnerability, making them susceptible…

Maintaining the security of control systems in the presence of integrity attacks is a significant challenge. In literature, several possible attacks against control systems have been formulated including replay, false data injection, and…

The safety of mobile robots in dynamic environments is predicated on making sure that they do not collide with obstacles. In support of such safety arguments, we analyze and formally verify a series of increasingly powerful safety…

The security of mobile robotic networks (MRNs) has been an active research topic in recent years. This paper demonstrates that the observable interaction process of MRNs under formation control will present increasingly severe threats.…

For mobile robots, navigating cluttered or dynamic environments often necessitates non-prehensile manipulation, particularly when faced with objects that are too large, irregular, or fragile to grasp. The unpredictable behavior and varying…

In order to enable physical human-robot interaction where humans and (mobile) manipulators share their workspace and work together, robots have to be equipped with important capabilities to guarantee human safety. The robots have to…

Most of the intrusion detection datasets to research machine learning-based intrusion detection systems (IDSs) are devoted to cyber-only systems, and they typically collect data from one architectural layer. Additionally, often the attacks…

Sensor attacks on robotic vehicles have become pervasive and manipulative. Their latest advancements exploit sensor and detector characteristics to bypass detection. Recent security efforts have leveraged the physics-based model to detect…

This article considers the design and analysis of multiple moving target defenses for recognizing and isolating attacks on cyber-physical systems. We consider attackers who perform integrity attacks on a set of sensors and actuators in a…

Robot-to-human object handover is an essential skill for robot assistants, from serving drinks at home to passing surgical tools in the operating room. We expect robots to perform handover robustly -- to release the object only after a firm…