Browse > Article
http://dx.doi.org/10.13089/JKIISC.2022.32.6.1091

Real-Time Attack Detection System Using Event-Based Runtime Monitoring in ROS 2  

Kang, Jeonghwan (Pusan National University)
Seo, Minseong (Pusan National University)
Park, Jaeyeol (Pusan National University)
Kwon, Donghyun (Pusan National University)
Publication Information
Journal of the Korea Institute of Information Security & Cryptology / v.32, no.6, 2022 , pp. 1091-1102 More about this Journal
Abstract
Robotic systems have developed very rapidly over the past decade. Robot Operating System is an open source-based software framework for the efficient development of robot operating systems and applications, and is widely used in various research and industrial fields. ROS applications may contain various vulnerabilities. Various studies have been conducted to monitor the excution of these ROS applications at runtime. In this study, we propose a real-time attack detection system using event-based runtime monitoring in ROS 2. Our attack detection system extends tracetools of ros2_tracing to instrument events into core libraries of ROS 2 middleware layer and monitors the events during runtime to detect attacks on the application layer through out-of-order execution of the APIs.
Keywords
Robot Operating System; Event-based Runtime Monitoring; Real-time Attack Detection;
Citations & Related Records
Times Cited By KSCI : 2  (Citation Analysis)
연도 인용수 순위
1 Jongkil Kim, J. M. Smereka, Calvin Cheung, Surya Nepal, and Marthie Grobler, "Security and performance considerations in ros 2: A balancing act." arXiv preprint arXiv:1809.09566, Sep. 2018.
2 Patrice Lacroix and Jules Desharnais. "Buffer Overflow Vulnerabilities in C and C++." Rapport de Recherche DIUL-RR-0803, Universite Laval, Quebec, Canada, Aug. 2008.
3 Saleh M. Alnaeli et al. "Vulnerable C/C++ code usage in IoT software systems." 2016 IEEE 3rd World Forum on Internet of Things (WF-IoT), IEEE, pp. 348-352, Dec. 2016.
4 Angelo Ferrando, et al. "ROSMonitoring: a runtime verification framework for ROS." Annual Conference Towards Autonomous Robotic Systems. Springer, Cham, pp. 387-399, Dec. 2020.
5 Sean Rivera, et al. "ROS-FM: Fast Monitoring for the Robotic Operating System (ROS)." 2020 25th International Conference on Engineering of Complex Computer Systems (ICECCS). IEEE, pp. 187-196, Oct. 2020.
6 Mathieu Desnoyers and Michel R. Dagenais. "The lttng tracer: A low impact performance and behavior monitor for gnu/linux," Proceedings of the Linux Symposium, OLS (Ottawa Linux Symposium), pp. 209-224, Jul. 2006.
7 The LTTng Project, "The LTTng Documentation", https://lttng.org/docs/v2.11/, 2021
8 Salima Omar, Asri Ngadi, and Hamid H. Jebur. "Machine learning techniques for anomaly detection: anoverview." International Journal of Computer Applications, vol. 79, no. 2, pp. 33-41, Oct. 2013.   DOI
9 Varun Chandola, Arindam Banerjee, and Vipin Kumar. "Anomaly detection: A survey." ACM computing surveys (CSUR), vol. 41, no. 3, pp. 1-58, Jul. 2009.
10 Anam Tahir, et al. "Swarms of unmanned aerial vehicles-a survey." Journal of Industrial Information Integration, vol. 16, Dec. 2019   DOI
11 Ruffin White, Henrik Christensen, and Morgan Quigley, "SROS: Securing ROS over the wire, in the graph, and through the kernel." arXiv preprint arXiv:1611.07060, Nov. 2016.
12 Rizk, Yara, Mariette Awad, and Edward W. Tunstel. "Cooperative heterogeneous multi-robot systems: A survey," ACM Computing Surveys (CSUR), vol. 52, no. 2, pp. 1-31, Apr. 2019.
13 Twinkle Jain and Gene Cooperman. "DMTCP: Fixing the single point of failure of the ros master", ROSCon 2017, Sep. 2017.
14 Pushyami Kaveti and Hanumant Singh. "ROS rescue: fault tolerance system for robot operating system." Robot Operating System (ROS), Studies in Computational Intelligence, vol 895, Springer, Cham, pp. 381-397, 2021.
15 Jose D'Abruzzo Pereira, Naghmeh Ivaki, and Marco Vieira. "Characterizing Buffer Overflow Vulnerabilities in Large C/C++ Projects." IEEE Access, vol 9, pp. 142879-142892, Oct. 2021.   DOI
16 Jeff Huang, et al. "ROSRV: Runtime verification for robots." International Conference on Runtime Verification. Springer, Cham, pp. 247-254, 2014.
17 Christophe Bedard, Ingo Lutkebohle, and Michel Dagenais. "ros2_tracing: Multipurpose Low-Overhead Framework for Real-Time Tracing of ROS 2." IEEE Robotics and Automation Letters, vol. 7, no. 3, pp. 6511-6518, Jul. 2022.   DOI
18 Qiang Liu, Tao Han, and Nirwan Ansari. "Learning-assisted secure end-to-end network slicing for cyber-physical systems." IEEE Network, vol. 34, no. 3, pp. 37-43, Jun. 2020.   DOI
19 Babeltrace, "Babeltrace2 documentation", https://babeltrace.org/docs/v2.0/man7/babeltrace2-intro.7/,
20 efficios/babeltrace, "babeltrace", https://github.com/efficios/babeltrace, 2021
21 Vedanth Narayanan and Rakesh B. Bobba. "Learning based anomaly detection for industrial arm applications." Proceedings of the 2018 Workshop on Cyber-Physical Systems Security and PrivaCy, pp. 13-23 Oct. 2018.
22 Kang-uk Seo, and Huy-kang Kim, "Sequence Based Anomaly Detection System for Unmanned Aerial Vehicle", Journal of The Korea Institute of Information Security and Cryptology, 32(1), pp. 39-48, Feb. 2022.   DOI
23 Hazim Shakhatreh, et al. "Unmanned aerial vehicles (UAVs): A survey on civil applications and key research challenges." IEEE Access, vol. 7, pp. 48572-48634, Apr. 2019.   DOI
24 Marc Pichler, Bernhard Dieber, and Martin Pinzger. "Can i depend on you? mapping the dependency and quality landscape of ros packages." 2019 third IEEE international conference on robotic computing (IRC), IEEE, pp. 78-85, Feb. 2019.
25 Varun Chandola, Arindam Banerjee, and Vipin Kumar. "Anomaly detection for discrete sequences: A survey." IEEE transactions on knowledge and data engineering, vol. 24, no. 5, pp. 823-839, May. 2012.   DOI