Secure and Resilient Control of ROSs

Quanyan Zhu, Zhiheng Xu

Research output: Chapter in Book/Report/Conference proceedingChapter


A Robot Operating System (ROS) plays a significant role in organizing industrial robots for manufacturing. With an increasing number of robots, operators integrate a ROS with networked communications to share the data. This cyber-physical nature exposes the ROS to cyber attacks. This chapter proposes an integrated cyber-physical solution to secure control of ROS agents using impact-aware lightweight cryptography and cyber-aware control design. We use the cyber states to capture the well-being of the cyber system under the lightweight encryption scheme. To model the incomplete information of the defender on the cyber state, we use a Partially Observed Markov Decision Process (POMDP) to design an impact-aware defense mechanism that makes the ROS resilient to the attacks and mitigates the cyber-physical risks. Finally, we show that the proposed scheme provides a high-confidence control of delay-sensitive ROS in the numerical experiments. The results also show a strong inter-dependency between physical parameters and cyber performance.

Original languageEnglish (US)
Title of host publicationAdvances in Information Security
Number of pages29
StatePublished - 2020

Publication series

NameAdvances in Information Security
ISSN (Print)1568-2633

ASJC Scopus subject areas

  • Information Systems
  • Computer Networks and Communications


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