Biblio

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2017-11-03
Shinde, R., Veeken, P. Van der, Schooten, S. Van, Berg, J. van den.  2016.  Ransomware: Studying transfer and mitigation. 2016 International Conference on Computing, Analytics and Security Trends (CAST). :90–95.

Cybercrimes today are focused over returns, especially in the form of monetary returns. In this paper - through a literature study and conducting interviews for the people victimized by ransomware and a survey with random set of victimized and non-victimized by ransomware - conclusions about the dependence of ransomware on demographics like age and education areshown. Increasing threats due to ease of transfer of ransomware through internet arealso discussed. Finally, low level awarenessamong company professionals is confirmed and reluctance to payment on being a victim is found as a common trait.

2017-04-20
Viticchié, Alessio, Basile, Cataldo, Avancini, Andrea, Ceccato, Mariano, Abrath, Bert, Coppens, Bart.  2016.  Reactive Attestation: Automatic Detection and Reaction to Software Tampering Attacks. Proceedings of the 2016 ACM Workshop on Software PROtection. :73–84.

Anti-tampering is a form of software protection conceived to detect and avoid the execution of tampered programs. Tamper detection assesses programs' integrity with load or execution-time checks. Avoidance reacts to tampered programs by stopping or rendering them unusable. General purpose reactions (such as halting the execution) stand out like a lighthouse in the code and are quite easy to defeat by an attacker. More sophisticated reactions, which degrade the user experience or the quality of service, are less easy to locate and remove but are too tangled with the program's business logic, and are thus difficult to automate by a general purpose protection tool. In the present paper, we propose a novel approach to anti-tampering that (i) fully automatically applies to a target program, (ii) uses Remote Attestation for detection purposes and (iii) adopts a server-side reaction that is difficult to block by an attacker. By means of Client/Server Code Splitting, a crucial part of the program is removed from the client and executed on a remote trusted server in sync with the client. If a client program provides evidences of its integrity, the part moved to the server is executed. Otherwise, a server-side reaction logic may (temporarily or definitely) decide to stop serving it. Therefore, a tampered client application can not continue its execution. We assessed our automatic protection tool on a case study Android application. Experimental results show that all the original and tampered executions are correctly detected, reactions are promptly applied, and execution overhead is on an acceptable level.

2017-04-03
Yüksel, Ömer, den Hartog, Jerry, Etalle, Sandro.  2016.  Reading Between the Fields: Practical, Effective Intrusion Detection for Industrial Control Systems. Proceedings of the 31st Annual ACM Symposium on Applied Computing. :2063–2070.

Detection of previously unknown attacks and malicious messages is a challenging problem faced by modern network intrusion detection systems. Anomaly-based solutions, despite being able to detect unknown attacks, have not been used often in practice due to their high false positive rate, and because they provide little actionable information to the security officer in case of an alert. In this paper we focus on intrusion detection in industrial control systems networks and we propose an innovative, practical and semantics-aware framework for anomaly detection. The network communication model and alerts generated by our framework are userunderstandable, making them much easier to manage. At the same time the framework exhibits an excellent tradeoff between detection rate and false positive rate, which we show by comparing it with two existing payload-based anomaly detection methods on several ICS datasets.

2017-10-10
Kim, Sung-Yeon, Robitzsch, Sebastian, Trossen, Dirk, Reed, Martin, Al-Naday, Mays, Riihijärvi, Janne.  2016.  Realizing IP-based Services over an Information-Centric Networking Transport Network. Proceedings of the 3rd ACM Conference on Information-Centric Networking. :215–216.

Information-centric networking (ICN) has been actively studied as a promising alternative to the IP-based Internet architecture with potential benefits in terms of network efficiency, privacy, security, and novel applications. However, it is difficult to adopt such wholesale replacement of the IP-based Internet to a new routing and service infrastructure due to the conflict among existing stakeholders, market players, and solution providers. To overcome these difficulties, we provide an evolutionary approach by which we enable the expected benefits of ICN for existing services. The demonstration shows that these benefits can be efficiently introduced and work with existing IP end-systems.

2017-09-19
Rahbarinia, Babak, Balduzzi, Marco, Perdisci, Roberto.  2016.  Real-Time Detection of Malware Downloads via Large-Scale URL-≫File-≫Machine Graph Mining. Proceedings of the 11th ACM on Asia Conference on Computer and Communications Security. :783–794.

In this paper we propose Mastino, a novel defense system to detect malware download events. A download event is a 3-tuple that identifies the action of downloading a file from a URL that was triggered by a client (machine). Mastino utilizes global situation awareness and continuously monitors various network- and system-level events of the clients' machines across the Internet and provides real time classification of both files and URLs to the clients upon submission of a new, unknown file or URL to the system. To enable detection of the download events, Mastino builds a large download graph that captures the subtle relationships among the entities of download events, i.e. files, URLs, and machines. We implemented a prototype version of Mastino and evaluated it in a large-scale real-world deployment. Our experimental evaluation shows that Mastino can accurately classify malware download events with an average of 95.5% true positive (TP), while incurring less than 0.5% false positives (FP). In addition, we show the Mastino can classify a new download event as either benign or malware in just a fraction of a second, and is therefore suitable as a real time defense system.

2017-11-20
Liu, Junbin, Sridharan, Sridha, Fookes, Clinton.  2016.  Recent Advances in Camera Planning for Large Area Surveillance: A Comprehensive Review. ACM Comput. Surv.. 49:6:1–6:37.

With recent advances in consumer electronics and the increasingly urgent need for public security, camera networks have evolved from their early role of providing simple and static monitoring to current complex systems capable of obtaining extensive video information for intelligent processing, such as target localization, identification, and tracking. In all cases, it is of vital importance that the optimal camera configuration (i.e., optimal location, orientation, etc.) is determined before cameras are deployed as a suboptimal placement solution will adversely affect intelligent video surveillance and video analytic algorithms. The optimal configuration may also provide substantial savings on the total number of cameras required to achieve the same level of utility. In this article, we examine most, if not all, of the recent approaches (post 2000) addressing camera placement in a structured manner. We believe that our work can serve as a first point of entry for readers wishing to start researching into this area or engineers who need to design a camera system in practice. To this end, we attempt to provide a complete study of relevant formulation strategies and brief introductions to most commonly used optimization techniques by researchers in this field. We hope our work to be inspirational to spark new ideas in the field.

2017-04-20
Wakchaure, M., Sarwade, S., Siddavatam, I..  2016.  Reconnaissance of Industrial Control System by deep packet inspection. 2016 IEEE International Conference on Engineering and Technology (ICETECH). :1093–1096.

Industrial Control System (ICS) consists of large number of electronic devices connected to field devices to execute the physical processes. Communication network of ICS supports wide range of packet based applications. A growing issue with network security and its impact on ICS have highlighted some fundamental risks to critical infrastructure. To address network security issues for ICS a clear understanding of security specific defensive countermeasures is required. Reconnaissance of ICS network by deep packet inspection (DPI) consists analysis of the contents of the captured packets in order to get accurate measures of process that uses specific countermeasure to create an aggregated posture. In this paper we focus on novel approach by presenting a technique with captured network traffic. This technique is capable to identify the protocols and extract different features for classification of traffic based on network protocol, header information and payload to understand the whole architecture of complex system. Here we have segregated possible types of attacks on ICS.

2017-05-16
Koskinen, Eric, Yang, Junfeng.  2016.  Reducing Crash Recoverability to Reachability. Proceedings of the 43rd Annual ACM SIGPLAN-SIGACT Symposium on Principles of Programming Languages. :97–108.

Software applications run on a variety of platforms (filesystems, virtual slices, mobile hardware, etc.) that do not provide 100% uptime. As such, these applications may crash at any unfortunate moment losing volatile data and, when re-launched, they must be able to correctly recover from potentially inconsistent states left on persistent storage. From a verification perspective, crash recovery bugs can be particularly frustrating because, even when it has been formally proved for a program that it satisfies a property, the proof is foiled by these external events that crash and restart the program. In this paper we first provide a hierarchical formal model of what it means for a program to be crash recoverable. Our model captures the recoverability of many real world programs, including those in our evaluation which use sophisticated recovery algorithms such as shadow paging and write-ahead logging. Next, we introduce a novel technique capable of automatically proving that a program correctly recovers from a crash via a reduction to reachability. Our technique takes an input control-flow automaton and transforms it into an encoding that blends the capture of snapshots of pre-crash states into a symbolic search for a proof that recovery terminates and every recovered execution simulates some crash-free execution. Our encoding is designed to enable one to apply existing abstraction techniques in order to do the work that is necessary to prove recoverability. We have implemented our technique in a tool called Eleven82, capable of analyzing C programs to detect recoverability bugs or prove their absence. We have applied our tool to benchmark examples drawn from industrial file systems and databases, including GDBM, LevelDB, LMDB, PostgreSQL, SQLite, VMware and ZooKeeper. Within minutes, our tool is able to discover bugs or prove that these fragments are crash recoverable.

Arab, Bahareh Sadat, Gawlick, Dieter, Krishnaswamy, Vasudha, Radhakrishnan, Venkatesh, Glavic, Boris.  2016.  Reenactment for Read-Committed Snapshot Isolation. Proceedings of the 25th ACM International on Conference on Information and Knowledge Management. :841–850.

Provenance for transactional updates is critical for many applications such as auditing and debugging of transactions. Recently, we have introduced MV-semirings, an extension of the semiring provenance model that supports updates and transactions. Furthermore, we have proposed reenactment, a declarative form of replay with provenance capture, as an efficient and non-invasive method for computing this type of provenance. However, this approach is limited to the snapshot isolation (SI) concurrency control protocol while many real world applications apply the read committed version of snapshot isolation (RC-SI) to improve performance at the cost of consistency. We present non trivial extensions of the model and reenactment approach to be able to compute provenance of RC-SI transactions efficiently. In addition, we develop techniques for applying reenactment across multiple RC-SI transactions. Our experiments demonstrate that our implementation in the GProM system supports efficient re-construction and querying of provenance.

2017-05-22
Santoso, Bagus.  2016.  Refining Identification Scheme Based on Isomorphism of Polynomials with Two Secrets: A New Theoretical and Practical Analysis. Proceedings of the 3rd ACM International Workshop on ASIA Public-Key Cryptography. :31–38.

The isomorphism of polynomials with two secret (IP2S) problem is one candidate of computational assumptions for post- quantum cryptography. The only identification scheme based on IP2S is introduced in 1996 by Patarin. However, the security of the scheme has not been formally proven and we discover that the originally proposed parameters are no longer secure based on the most recent research. In this paper, we present the first formal security proof of identification scheme based on IP2S against impersonation under passive attack, sequential active attack, and concurrent active attack. We propose new secure parameters and methods to reduce the implementation cost. Using the proposed methods, we are able to cut the storage cost and average communication cost in a drastic way that the scheme is implementable even on the lightweight devices in the current market.

2017-05-16
Najafi, Ali, Rudell, Jacques C., Sathe, Visvesh.  2016.  Regenerative Breaking: Recovering Stored Energy from Inactive Voltage Domains for Energy-efficient Systems-on-Chip. Proceedings of the 2016 International Symposium on Low Power Electronics and Design. :94–99.

Modern Systems-on-Chip(SoCs) frequently power-off individual voltage domains to save leakage power across a variety of applications, from large-scale heterogeneous computing to ultra-low power systems in IoT applications. However, the considerable energy stored within the capacitance of the powered-off domain is lost through leakage. In this paper, we present an approach to leverage existing voltage regulators to recover this energy from the disabled voltage-domain back into the supply using a low-overhead all-digital runtime control system. Simulation experiments conducted in an industrial 65nm CMOS process indicate that over 90% of the stored energy can be recovered across a range of operating system voltages from 0.4V–1V.

2017-08-18
Usman, Aminu Bello, Gutierrez, Jairo.  2016.  A Reliability-Based Trust Model for Efficient Collaborative Routing in Wireless Networks. Proceedings of the 11th International Conference on Queueing Theory and Network Applications. :15:1–15:7.

Different wireless Peer-to-Peer (P2P) routing protocols rely on cooperative protocols of interaction among peers, yet, most of the surveyed provide little detail on how the peers can take into consideration the peers' reliability for improving routing efficiency in collaborative networks. Previous research has shown that in most of the trust and reputation evaluation schemes, the peers' rating behaviour can be improved to include the peers' attributes for understanding peers' reliability. This paper proposes a reliability based trust model for dynamic trust evaluation between the peers in P2P networks for collaborative routing. Since the peers' routing attributes vary dynamically, our proposed model must also accommodate the dynamic changes of peers' attributes and behaviour. We introduce peers' buffers as a scaling factor for peers' trust evaluation in the trust and reputation routing protocols. The comparison between reliability and non-reliability based trust models using simulation shows the improved performance of our proposed model in terms of delivery ratio and average message latency.

2017-04-20
Brasser, Ferdinand, Rasmussen, Kasper B., Sadeghi, Ahmad-Reza, Tsudik, Gene.  2016.  Remote Attestation for Low-end Embedded Devices: The Prover's Perspective. Proceedings of the 53rd Annual Design Automation Conference. :91:1–91:6.

Security of embedded devices is a timely and important issue, due to the proliferation of these devices into numerous and diverse settings, as well as their growing popularity as attack targets, especially, via remote malware infestations. One important defense mechanism is remote attestation, whereby a trusted, and possibly remote, party (verifier) checks the internal state of an untrusted, and potentially compromised, device (prover). Despite much prior work, remote attestation remains a vibrant research topic. However, most attestation schemes naturally focus on the scenario where the verifier is trusted and the prover is not. The opposite setting–-where the prover is benign, and the verifier is malicious–-has been side-stepped. To this end, this paper considers the issue of prover security, including: verifier impersonation, denial-of-service (DoS) and replay attacks, all of which result in unauthorized invocation of attestation functionality on the prover. We argue that protection of the prover from these attacks must be treated as an important component of any remote attestation method. We formulate a new roaming adversary model for this scenario and present the trade-offs involved in countering this threat. We also identify new features and methods needed to protect the prover with minimal additional requirements.

2017-05-16
Chirigati, Fernando, Rampin, Rémi, Shasha, Dennis, Freire, Juliana.  2016.  ReproZip: Computational Reproducibility With Ease. Proceedings of the 2016 International Conference on Management of Data. :2085–2088.

We present ReproZip, the recommended packaging tool for the SIGMOD Reproducibility Review. ReproZip was designed to simplify the process of making an existing computational experiment reproducible across platforms, even when the experiment was put together without reproducibility in mind. The tool creates a self-contained package for an experiment by automatically tracking and identifying all its required dependencies. The researcher can share the package with others, who can then use ReproZip to unpack the experiment, reproduce the findings on their favorite operating system, as well as modify the original experiment for reuse in new research, all with little effort. The demo will consist of examples of non-trivial experiments, showing how these can be packed in a Linux machine and reproduced on different machines and operating systems. Demo visitors will also be able to pack and reproduce their own experiments.

2017-09-19
Bo, Li, Jinzhen, Wang, Ping, Zhao, Zhongjiang, Yan, Mao, Yang.  2016.  Research of Recognition System of Web Intrusion Detection Based on Storm. Proceedings of the Fifth International Conference on Network, Communication and Computing. :98–102.

Based on Storm, a distributed, reliable, fault-tolerant real-time data stream processing system, we propose a recognition system of web intrusion detection. The system is based on machine learning, feature selection algorithm by TF-IDF(Term Frequency–Inverse Document Frequency) and the optimised cosine similarity algorithm, at low false positive rate and a higher detection rate of attacks and malicious behavior in real-time to protect the security of user data. From comparative analysis of experiments we find that the system for intrusion recognition rate and false positive rate has improved to some extent, it can be better to complete the intrusion detection work.

2017-08-22
Zhang, Lihua, Shang, Yue, Qin, Qi, Chen, Shaowei, Zhao, Shuai.  2016.  Research on Fault Feature Extraction for Analog Circuits. Proceedings of the 8th International Conference on Signal Processing Systems. :173–177.

In order to realize the accurate positioning and recognition effectively of the analog circuit, the feature extraction of fault information is an extremely important port. This arrival based on the experimental circuit which is designed as a failure mode to pick-up the fault sample set. We have chosen two methods, one is the combination of wavelet transform and principal component analysis, the other is the factorial analysis for the fault data's feature extraction, and we also use the extreme learning machine to train and diagnose the data, to compare the performance of these two methods through the accuracy of the diagnosis. The results of the experiment shows that the data which we get from the experimental circuit, after dealing with these two methods can quickly get the fault location.

2017-09-19
Yingying, Xu, Chao, Liu, Tao, Tang.  2016.  Research on Risk Assessment of CTCS Based on Fuzzy Reasoning and Analytic Hierarchy Process. Proceedings of the 2016 International Conference on Intelligent Information Processing. :31:1–31:7.

In this paper, we describe the formatting guidelines for ACM SIG Proceedings. In order to assure safety of Chinese Train Control System (CTCS), it is necessary to ensure the operational risk is acceptable throughout its life-cycle, which requires a pragmatic risk assessment required for effective risk control. Many risk assessment techniques currently used in railway domain are qualitative, and rely on the experience of experts, which unavoidably brings in subjective judgements. This paper presents a method that combines fuzzy reasoning and analytic hierarchy process approach to quantify the experiences of experts to get the scores of risk parameters. Fuzzy reasoning is used to obtain the risk of system hazard, analytic hierarchy process approach is used to determine the risk level (RL) and its membership of the system. This method helps safety analyst to calculate overall collective risk level of system. A case study of risk assessment of CTCS system is used to demonstrate this method can give quantitative result of collective risks without much information from experts, but can support the risk assessment with risk level and its membership, which are more valuable to guide the further risk management.

2017-11-27
Fournaris, A. P., Papachristodoulou, L., Batina, L., Sklavos, N..  2016.  Residue Number System as a side channel and fault injection attack countermeasure in elliptic curve cryptography. 2016 International Conference on Design and Technology of Integrated Systems in Nanoscale Era (DTIS). :1–4.

Implementation attacks and more specifically Power Analysis (PA) (the dominant type of side channel attack) and fault injection (FA) attacks constitute a pragmatic hazard for scalar multiplication, the main operation behind Elliptic Curve Cryptography. There exists a wide variety of countermeasures attempting to thwart such attacks that, however, few of them explore the potential of alternative number systems like the Residue Number System (RNS). In this paper, we explore the potential of RNS as an PA-FA countermeasure and propose an PA-FA resistant scalar multiplication algorithm and provide an extensive security analysis against the most effective PA-FA techniques. We argue through a security analysis that combining traditional PA-FA countermeasures with lightweight RNS countermeasures can provide strong PA-FA resistance.

2017-04-24
Delic, Kemal A..  2016.  On Resilience of IoT Systems: The Internet of Things (Ubiquity Symposium). Ubiquity. 2016:1:1–1:7.

At the very high level of abstraction, the Internet of Things (IoT) can be modeled as the hyper-scale, hyper-complex cyber-physical system. Study of resilience of IoT systems is the first step towards engineering of the future IoT eco-systems. Exploration of this domain is highly promising avenue for many aspiring Ph.D. and M.Sc. students.

2018-02-02
Rogers, R., Apeh, E., Richardson, C. J..  2016.  Resilience of the Internet of Things (IoT) from an Information Assurance (IA) perspective. 2016 10th International Conference on Software, Knowledge, Information Management Applications (SKIMA). :110–115.

Internet infrastructure developments and the rise of the IoT Socio-Technical Systems (STS) have frequently generated more unsecure protocols to facilitate the rapid intercommunication between the plethoras of IoT devices. Whereas, current development of the IoT has been mainly focused on enabling and effectively meeting the functionality requirement of digital-enabled enterprises we have seen scant regard to their IA architecture, marginalizing system resilience with blatant afterthoughts to cyber defence. Whilst interconnected IoT devices do facilitate and expand information sharing; they further increase of risk exposure and potential loss of trust to their Socio-Technical Systems. A change in the IoT paradigm is needed to enable a security-first mind-set; if the trusted sharing of information built upon dependable resilient growth of IoT is to be established and maintained. We argue that Information Assurance is paramount to the success of IoT, specifically its resilience and dependability to continue its safe support for our digital economy.

2017-09-15
Crampton, Jason, Gutin, Gregory, Watrigant, Rémi.  2016.  Resiliency Policies in Access Control Revisited. Proceedings of the 21st ACM on Symposium on Access Control Models and Technologies. :101–111.

Resiliency is a relatively new topic in the context of access control. Informally, it refers to the extent to which a multi-user computer system, subject to an authorization policy, is able to continue functioning if a number of authorized users are unavailable. Several interesting problems connected to resiliency were introduced by Li, Wang and Tripunitara [13], many of which were found to be intractable. In this paper, we show that these resiliency problems have unexpected connections with the workflow satisfiability problem (WSP). In particular, we show that an instance of the resiliency checking problem (RCP) may be reduced to an instance of WSP. We then demonstrate that recent advances in our understanding of WSP enable us to develop fixed-parameter tractable algorithms for RCP. Moreover, these algorithms are likely to be useful in practice, given recent experimental work demonstrating the advantages of bespoke algorithms to solve WSP. We also generalize RCP in several different ways, showing in each case how to adapt the reduction to WSP. Li et al also showed that the coexistence of resiliency policies and static separation-of-duty policies gives rise to further interesting questions. We show how our reduction of RCP to WSP may be extended to solve these problems as well and establish that they are also fixed-parameter tractable.

2017-03-29
Rajabi, Arezoo, Bobba, Rakesh B..  2016.  A Resilient Algorithm for Power System Mode Estimation Using Synchrophasors. Proceedings of the 2Nd Annual Industrial Control System Security Workshop. :23–29.

Bulk electric systems include hundreds of synchronous generators. Faults in such systems can induce oscillations in the generators which if not detected and controlled can destabilize the system. Mode estimation is a popular method for oscillation detection. In this paper, we propose a resilient algorithm to estimate electro-mechanical oscillation modes in large scale power system in the presence of false data. In particular, we add a fault tolerance mechanism to a variant of alternating direction method of multipliers (ADMM) called S-ADMM. We evaluate our method on an IEEE 68-bus test system under different attack scenarios and show that in all the scenarios our algorithm converges well.

2018-02-02
Mattos, D. M. F., Duarte, O. C. M. B., Pujolle, G..  2016.  A resilient distributed controller for software defined networking. 2016 IEEE International Conference on Communications (ICC). :1–6.

Control plane distribution on Software Defined Networking enhances security, performance and scalability of the network. In this paper, we propose an efficient architecture for distribution of controllers. The main contributions of the proposed architecture are: i) A controller distributed areas to ensure security, performance and scalability of the network; ii) A single database maintained by a designated controller to provide consistency to the control plane; iii) An optimized heuristic for locating controllers to reduce latency in the control plane; iv) A resilient mechanism of choosing the designated controller to ensure the proper functioning of the network, even when there are failures. A prototype of the proposal was implemented and the placement heuristic was analyzed in real topologies. The results show that connectivity is maintained even in failure scenarios. Finally, we show that the placement optimization reduces the average latency of controllers. Our proposed heuristic achieves a fair distribution of controllers and outperforms the network resilience of other heuristics up to two times better.

2017-05-17
Burdick, Doug, De, Soham, Raschid, Louiqa, Shao, Mingchao, Xu, Zheng, Zotkina, Elena.  2016.  resMBS: Constructing a Financial Supply Chain from Prospectus. Proceedings of the Second International Workshop on Data Science for Macro-Modeling. :7:1–7:6.

Understanding the behavior of complex financial supply chains is usually difficult due to a lack of data capturing the interactions between financial institutions (FIs) and the roles that they play in financial contracts (FCs). resMBS is an example supply chain corresponding to the US residential mortgage backed securities that were critical in the 2008 US financial crisis. In this paper, we describe the process of creating the resMBS graph dataset from financial prospectus. We use the SystemT rule-based text extraction platform to develop two tools, ORG NER and Dict NER, for named entity recognition of financial institution (FI) names. The resMBS graph comprises a set of FC nodes (each prospectus) and the corresponding FI nodes that are extracted from the prospectus. A Role-FI extractor matches a role keyword such as originator, sponsor or servicer, with FI names. We study the performance of the Role-FI extractor, and ORG NER and Dict NER, in constructing the resMBS dataset. We also present preliminary results of a clustering based analysis to identify financial communities and their evolution in the resMBS financial supply chain.

2017-05-18
Kattepur, Ajay, Dohare, Harshit, Mushunuri, Visali, Rath, Hemant Kumar, Simha, Anantha.  2016.  Resource Constrained Offloading in Fog Computing. Proceedings of the 1st Workshop on Middleware for Edge Clouds & Cloudlets. :1:1–1:6.

When focusing on the Internet of Things (IoT), communicating and coordinating sensor–actuator data via the cloud involves inefficient overheads and reduces autonomous behavior. The Fog Computing paradigm essentially moves the compute nodes closer to sensing entities by exploiting peers and intermediary network devices. This reduces centralized communication with the cloud and entails increased coordination between sensing entities and (possibly available) smart network gateway devices. In this paper, we analyze the utility of offloading computation among peers when working in fog based deployments. It is important to study the trade-offs involved with such computation offloading, as we deal with resource (energy, computation capacity) limited devices. Devices computing in a distributed environment may choose to locally compute part of their data and communicate the remainder to their peers. An optimization formulation is presented that is applied to various deployment scenarios, taking the computation and communication overheads into account. Our technique is demonstrated on a network of robotic sensor–actuators developed on the ROS (Robot Operating System) platform, that coordinate over the fog to complete a task. We demonstrate 77.8% latency and 54% battery usage improvements over large computation tasks, by applying this optimal offloading.