用于自主机器人端到端数据验证的安全编码指令图
Secure Encoded Instruction Graphs for End-to-End Data Validation in Autonomous Robots
摘要：
随着自主机器人的普及，机器人操作的安全性越来越受到关注。自主机器人可以被视为网络物理系统：它们可以在虚拟，物理和人类领域中运行。因此，保护自主机器人的操作不仅需要保护它们的数据（例如，传感器输入和任务指令），但是保护它们与其环境的交互。目前缺乏方法，可以让机器人在没有外部反馈的情况下安全地确保其传感器和执行器正确运行。本文介绍了一种编码方法和端到端的验证框架的自主机器人的任务。特别是，我们提出了一个概念证明的地图编码方法，它允许机器人导航现实的环境和验证操作指令几乎为零{ \it先验}知识。我们展示了我们的框架，使用两种不同的编码地图在模拟和真实的机器人实验。我们的编码地图具有与典型的基于地标的导航相同的优势，但具有加密哈希的额外优势，可以实现端到端的信息验证。我们的方法适用于机器人操作的任何方面，其中有一个预定义的一组动作或指令给机器人。
英文摘要：
As autonomous robots are becoming more widespread, more attention is being paid to the security of robotic operation. Autonomous robots can be seen as cyber-physical systems: they can operate in virtual, physical, and human realms. Therefore, securing the operations of autonomous robots requires not only securing their data (e.g., sensor inputs and mission instructions) but securing their interactions with their environment. There is currently a deficiency of methods that would allow robots to securely ensure their sensors and actuators are operating correctly without external feedback. This paper introduces an encoding method and end-to-end validation framework for the missions of autonomous robots. In particular, we present a proof of concept of a map encoding method, which allows robots to navigate realistic environments and validate operational instructions with almost zero {\it a priori} knowledge. We demonstrate our framework using two different encoded maps in experiments with simulated and real robots. Our encoded maps have the same advantages as typical landmark-based navigation, but with the added benefit of cryptographic hashes that enable end-to-end information validation. Our method is applicable to any aspect of robotic operation in which there is a predefined set of actions or instructions given to the robot.
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