Cited 0 time in webofscience Cited 0 time in scopus

A Robot Operating System Framework for Secure UAV Communications

Title
A Robot Operating System Framework for Secure UAV Communications
Translated Title
보안된 UAV 통신을 위한 로봇 운영 체제 프레임워크
Authors
Hyojun Lee
DGIST Authors
Hyojun Lee; Kyung-Joon ParkKyoung-Dae Kim
Advisor(s)
박경준
Co-Advisor(s)
Kyoung-Dae Kim
Issue Date
2021
Available Date
2022-07-07
Degree Date
2021/02
Type
Thesis
Keywords
Unmanned Aerial Vehicle, Network Attack, Cyber-Physical System, Security
Abstract
To perform advanced operations with unmanned aerial vehicles (UAVs), it is crucial that components other than the existing ones such as flight controller, network devices, and GCS are used. The feature of obstacle avoidance is added to the pre-existing simple waypoint missions to ensure the commercialization of UAVs. However, this feature requires additional hardware and software to recognize obstacles based on radar or lidar. The inevitable addition of components to accomplish this functionality may lead to security vulnerabilities through various vectors. Hence, we propose a security framework in this study to improve the security of UAS. The proposed framework operates in the ROS (robot operating system) and is designed to focus on several perspectives such as overhead arising from additional security elements and security issues essential for flight missions. The UAS is operated in a non-native and native ROS environment. The performance of the proposed framework in both environments is verified through experiments.
Table Of Contents
Ⅰ. INTRODUCTION 1 Ⅱ. BACKGROUND 3 2.1 Unmanned Aerial System (UAS) 3 2.2 Robot Operating System (ROS) 5 2.3 Rosbridge 6 2.4 Safety tool of ROS 6 Ⅲ. VULNEARABILITY DEFINITION OF ROBOT OPERATING SYSTEM 9 3.1 Vulnerability in CPS 9 3.2 UAS data transmission layer model in CPS perspective 10 3.3 Model of ROS-based UAS 11 3.4 Vulnerability of ROS-based UAS 13 Ⅳ. RELATED WORK 15 Ⅴ. PROPOSED METHOD 17 5.1 Registration of a new node 18 5.2 Signature with HMAC 19 5.3 Performance and Conceptual Comparison 21 Ⅵ. TEST 23 6.1 Experiment environment of UAS 23 6.2 Experiment on native ROS attack 25 6.3 Experiment on non-native ROS attack 28 Ⅶ. CONCLUSION 32 REFERENCES 33 SUMMARY (Korean) 35
URI
http://dgist.dcollection.net/common/orgView/200000366933
http://hdl.handle.net/20.500.11750/16730
DOI
10.22677/thesis.200000366933
Degree
Master
Department
Information and Communication Engineering
University
DGIST
Related Researcher
  • Author Park, Kyung-Joon CSI(Cyber-Physical Systems Integration) Lab
  • Research Interests Cyber-Physical Systems; 무선 센서-액츄에이터 네트워크; 스마트 팩토리
Files:
Collection:
Department of Electrical Engineering and Computer ScienceThesesMaster


qrcode mendeley

Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.

BROWSE