Publication:
CYBER SECURITY TESTING OF THE ROBOT OPERATING SYSTEM IN UNMANNED AERIAL SYSTEMS

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Authors
Sandoval, Sergio
Subjects
authentication
authorization
encryption
ROS
unmanned aerial vehicle
swarm
security
Advisors
Thulasiraman, Preetha
Date of Issue
2018-09
Date
Publisher
Monterey, CA; Naval Postgraduate School
Language
Abstract
Unmanned systems have gained in prominence as platforms from which to conduct military operations. The Robot Operating System (ROS) is a widely adopted standard robotic middleware; however, its preliminary design is devoid of any network security features. Military grade unmanned systems must be guarded against network threats. ROS 2.0 is built upon the Data Distribution Service standard and is designed to provide solutions to identified ROS 1.0 security vulnerabilities by incorporating authentication, encryption, and process profile features. The Department of Defense is looking to use ROS 2.0 for its military-centric robotics platform. Through our work, we demonstrated that ROS 2.0 can serve as a functional platform for use in military grade unmanned systems. We tested the viability of ROS 2.0 to safeguard communications between an unmanned aerial swarm and a ground control station against rogue node and message-spoofing attacks. Our experiments employ the PX4 Multi Vehicle Simulation swarming three iris-quadcopter aerial drones within a Gazebo 9 simulation environment, utilizing QGroundControl as our ground control station. Drones were targeted individually to ascertain the effectiveness of our attack vectors under specific conditions. We demonstrated the effectiveness of ROS 2.0 in mitigating the chosen attack vectors but observed a measurable operational delay within our simulations.
Type
Thesis
Description
Series/Report No
Department
Electrical and Computer Engineering (ECE)
Other Units
Identifiers
NPS Report Number
Sponsors
CRUSER/ONR
Funder
Format
Citation
Distribution Statement
Approved for public release; distribution is unlimited.
Rights
This publication is a work of the U.S. Government as defined in Title 17, United States Code, Section 101. Copyright protection is not available for this work in the United States.
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