ROS2-Based Simulation Framework for Cyberphysical Security Analysis of UAVs
<|reference_start|>ROS2-Based Simulation Framework for Cyberphysical Security Analysis of UAVs: 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.<|reference_end|>
@article{patil2024ros2-based,
    title={ROS2-Based Simulation Framework for Cyberphysical Security Analysis of
  UAVs},
    author={Unmesh Patil, Akshith Gunasekaran, Rakesh Bobba, Houssam Abbas},
    journal={arXiv preprint arXiv:2410.03971},
    year={2024},
    archivePrefix={arXiv},
    eprint={2410.03971},
    primaryClass={cs.RO cs.CR}
}