Biblio

The Robotic Operating System (ROS) is a popular framework for robotics research and development. It's a system that provides hardware abstraction with low-level device management to handle communications and services. ROS is a distributed system, which allows various nodes in a network to communicate using a method such as message passing. When integrating systems using ROS, it is vital to consider the security and privacy of the data and information shared across ROS nodes, which is considered to be one of the most challenging aspects of ROS systems. The goal of this study is to examine the ROS architecture, primary components, and versions, as well as the types of vulnerabilities that might compromise the system. In order to achieve the CIA's three fundamental security criteria on a ROS-based platform, we categorized these vulnerabilities and looked into various security solutions proposed by researchers. We provide a comparative analysis of the ROS-related security solutions, the security threats and issues they addressed, the targeted architecture of the protection or defense system, the solution's evaluation methodology and the evaluation metric, and the limitations that might be viewed as unresolved issues for the future course of action. Finally, we look into future possibilities and open challenges to assist researchers to develop more secure and efficient ROS systems.

Remote attestation is the process of measuring the integrity of a device over the network, by detecting modification of software or hardware from the original configuration. Several remote software-based attestation mechanisms have been introduced, that rely on strict time constraints and other impractical constraints that make them inconvenient for IoT systems. Although some research is done to address these issues, they integrated trusted hardware devices to the attested devices to accomplish their aim, which is costly and not convenient for many use cases. In this paper, we propose “Dual Attestation” that includes two stages: static and dynamic. The static attestation phase checks the memory of the attested device. The dynamic attestation technique checks the execution correctness of the application code and can detect the runtime attacks. The objectives are to minimize the overhead and detect these attacks, by developing an optimized dynamic technique that checks the application program flow. The optimization will be done in the prover and the verifier sides.