Cyberattack detection and compensation for distant-controlled mobile robots

摘要

This paper presents the design and implementation of a resilient control method that allows adequate remote control of mobile robots, even in the case of DOS (Denial of Service) or such other types of cyberattacks that overload the communication channels. The proposed approach focuses on the so-called Move-and-Wait remote control strategy. It uses an attack detector that estimates the magnitude of the attack using communication parameter measurements. Based on this information, a compensator algorithm modifies the activity period of the robots motion sequence, as well as its speed, such that the robots movement remains as continuous as possible, even in the case of a cyberattack. Real-time experimental measurements are also presented in the paper to show the effectiveness of the proposed cyberattack mitigation strategy.