Visible to the public Cross-Layer Secure and Resilient Control of Delay-Sensitive Networked Robot Operating Systems

TitleCross-Layer Secure and Resilient Control of Delay-Sensitive Networked Robot Operating Systems
Publication TypeConference Paper
Year of Publication2018
AuthorsXu, Z., Zhu, Q.
Conference Name2018 IEEE Conference on Control Technology and Applications (CCTA)
Date PublishedAug. 2018
ISBN Number978-1-5386-7698-1
Keywordscontrol engineering computing, control systems, cross-layer secure approach, cryptography, cyber-physical nature, Cyber-physical systems, decision theory, delay systems, delay-sensitive networked robot operating systems, delays, Human Behavior, human factors, industrial robots, Markov processes, networked communication, operating systems (computers), Partially Observed Markov Decision Process, Physical layer, policy-based governance, pomdp, pubcrawl, resilience, Resiliency, resilient control, resilient mechanism, robot operating systems, robots, ROS agent, secure mechanism, security, security mechanism, security of data, security performance, Service robots, time-delay controller

A Robot Operating System (ROS) plays a significant role in organizing industrial robots for manufacturing. With an increasing number of the robots, the operators integrate a ROS with networked communication to share the data. This cyber-physical nature exposes the ROS to cyber attacks. To this end, this paper proposes a cross-layer approach to achieve secure and resilient control of a ROS. In the physical layer, due to the delay caused by the security mechanism, we design a time-delay controller for the ROS agent. In the cyber layer, we define cyber states and use Markov Decision Process to evaluate the tradeoffs between physical and security performance. Due to the uncertainty of the cyber state, we extend the MDP to a Partially Observed Markov Decision Process (POMDP). We propose a threshold solution based on our theoretical results. Finally, we present numerical examples to evaluate the performance of the secure and resilient mechanism.

Citation Keyxu_cross-layer_2018