AXON：一种采用共享内存/QUIC传输与QKD/ML-KEM密钥建立的ROS 2 RMW实现
AXON: A ROS 2 RMW with Shared-Memory/QUIC Transport and QKD/ML-KEM Key Establishment
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- Universidad de León（莱昂大学）
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中文总结 AI 辅助
AXON提出一种ROS 2 RMW实现，采用共享内存和QUIC传输，并通过QKD/ML-KEM密钥建立实现故障关闭式安全通信，以增强机器人系统的传输灵活性与安全性。
中文摘要 AI 辅助
机器人操作系统2（ROS 2）将应用程序代码标准化为中间件接口（RMW），其参考实现基于数据分发服务（DDS）。我们提出AXON，一种替代性的ROS 2 RMW实现，它根据部署范围分离传输策略。其Rust核心和C++适配器使用POSIX共享内存环形缓冲区进行同主机通信，使用QUIC进行远程通信，并使用守护进程进行发现和图同步。随后，我们描述了两种针对远程流量的故障关闭式TLS 1.3密钥建立配置。经典配置仅提供混合X25519MLKEM768组，防止协商仅经典组。QKD配置通过ETSI GS QKD 014 API导入256位密钥作为成对外部预共享密钥（PSK），且不提供Diffie-Hellman组。其默认的messages10策略额外使用AES-256-GCM保护远程应用消息，每十条出站消息轮换KME材料，并为每个信封使用新鲜随机数；会话则仅依赖QUIC保护。外部PSK路径需要对rustls进行窄扩展，现随AXON捆绑。我们定义了威胁模型，区分了两种配置中的对等体认证，并将实现级验证与ROS 2一致性、比较性能和物理QKD验证区分开来。
英文摘要
Robot Operating System 2 (ROS 2) standardizes application code against a middleware interface (RMW) whose reference implementations are built on the Data Distribution Service (DDS). We present AXON, an alternative ROS 2 RMW implementation that separates transport policy by deployment scope. A Rust core and C++ adapter use POSIX shared-memory rings for same-host communication, QUIC for remote communication, and a daemon for discovery and graph synchronization. We then describe two fail-closed TLS 1.3 key-establishment configurations for remote traffic. The classic configuration offers only the hybrid X25519MLKEM768 group, preventing negotiation of a classical-only group. The qkd configuration imports a 256-bit key obtained through the ETSI GS QKD 014 API as a pairwise external PSK and offers no Diffie-Hellman group. Its default messages10 strategy additionally protects remote application messages with AES-256-GCM, rotating KME material after ten outgoing messages and using a fresh nonce per envelope; session relies on QUIC protection alone. The external-PSK path requires a narrow extension to rustls, now bundled with AXON. We define the threat model, distinguish peer authentication in the two configurations, and delimit the implementation-level validation from ROS 2 conformance, comparative performance, and physical-QKD validation.
