TY - GEN
T1 - Cross-Layer Secure and Resilient Control of Delay-Sensitive Networked Robot Operating Systems
AU - Xu, Zhiheng
AU - Zhu, Quanyan
N1 - Funding Information:
This research is partially supported by a DHS grant through Critical Infrastructure Resilience Institute (CIRI), grants CNS-1544782 and SES-1541164 from National Science of Foundation (NSF), and grant DE-NE0008571 from the Department of Energy (DOE).
Publisher Copyright:
© 2018 IEEE.
PY - 2018/10/26
Y1 - 2018/10/26
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=85056830312&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85056830312&partnerID=8YFLogxK
U2 - 10.1109/CCTA.2018.8511500
DO - 10.1109/CCTA.2018.8511500
M3 - Conference contribution
AN - SCOPUS:85056830312
T3 - 2018 IEEE Conference on Control Technology and Applications, CCTA 2018
SP - 1712
EP - 1717
BT - 2018 IEEE Conference on Control Technology and Applications, CCTA 2018
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2nd IEEE Conference on Control Technology and Applications, CCTA 2018
Y2 - 21 August 2018 through 24 August 2018
ER -