UAVのサイバーフィジカルセキュリティ分析のためのROS2ベースシミュレーションフレームワーク
ROS2-Based Simulation Framework for Cyberphysical Security Analysis of UAVs
ROS2とGazeboを活用し、UAVへのサイバーフィジカル攻撃と防御をテストするためのモジュール式シミュレータを提案した。運動計画・制御・通信・攻撃モデルを備え、実機実験の代替や範囲絞り込みを可能にする。
著者: Unmesh Patil, Akshith Gunasekaran, Rakesh Bobba, Houssam Abbas
分類: cs.RO, cs.CR
原文アブストラクト
We present a new simulator of Uncrewed Aerial Vehicles (UAVs) that is tailored to the needs of testing cyber-physical security attacks and defenses. Recent investigations into UAV safety have unveiled various attack surfaces and some defense mechanisms. However, due to escalating regulations imposed by aviation authorities on security research on real UAVs, and the substantial costs associated with hardware test-bed configurations, there arises a necessity for a simulator capable of substituting for hardware experiments, and/or narrowing down their scope to the strictly necessary. The study of different attack mechanisms requires specific features in a simulator. We propose a simulation framework based on ROS2, leveraging some of its key advantages, including modularity, replicability, customization, and the utilization of open-source tools such as Gazebo. Our framework has a built-in motion planner, controller, communication models and attack models. We share examples of research use cases that our framework can enable, demonstrating its utility.
