Security Controller Synthesis for ROS-based Robot

摘要

In recent years, robots have been widely used in people's daily lives. While bringing convenience to us, there are also potential threats. To ensure the correctness of the robot's behavior, scientists have conducted extensive research on generating security controllers for robots. In this paper, we propose a method that divides the robot controllers into task controller and security controller, this method greatly reduces the time required for controller generation. We use the Robot Operating System (ROS) as our experimental platform. Due to the poor security of ROS, robots are vulnerable to cyber-attacks. Therefore, we summarized several types of cyber-attacks against ROS and generate security controllers for robots. Then we simulate the generated controllers in Gazebo. Experimental results show that our method can reduce the impact of cyber attacks on robots and ensure the successful completion of the task.