RobResilience：网络物理具身系统韧性框架的实现与评估
RobResilience: Implementing and Evaluating a Resilience Framework for Cyber-Physical Embodied Systems
- Örebro University（厄勒布鲁大学）
- University of Padua（帕多瓦大学）
机构由 AI 辅助整理，请以论文原文为准。
AI总结：
针对具身网络物理系统在攻击下无法区分安全退化与灾难危险的问题，本文提出RobResilience框架，在Webots中基于PR2和ROS2实现，通过运行时评估三个谓词并触发缓解，经八个场景验证与理论一致。
AI中文摘要：
在具身网络物理系统中，主动网络攻击不仅对数据构成直接威胁，更对物理完整性和人类安全构成即时威胁。尽管现有安全方法擅长检测，但它们缺乏运行时机制来确定干扰是否可容忍，或性能退化是否仍处于安全运行范围内。这一差距使自主系统易受优雅失败瘫痪的影响，即在持续攻击期间，它们无法区分安全的退化状态与灾难性危险。本文介绍了RobResilience，这是在Webots仿真环境中，使用PR2机器人和ROS2对具身网络物理系统形式化韧性框架的一种实现。该框架在运行时评估三个谓词：可容忍干扰（$\delta$）、可容忍退化（$\gamma$）和缓解可行性（$\mu$），基于从IDS置信度得分得出的受损设备集。当韧性丧失时，框架触发可用的缓解策略。我们通过八个攻击场景评估了我们的实现，这些场景系统地覆盖了谓词状态空间的所有可能组合，并变化攻击目标、退化率和缓解可用性。结果证实，该实现的运行时行为与理论定义一致。
英文摘要：
In embodied cyber-physical systems, active cyberattacks pose an immediate threat not just to data, but to physical integrity and human safety. While existing security approaches excel at detection, they lack the runtime mechanisms to determine whether a disruption is tolerable or if performance degradation remains within safe operational bounds. This gap leaves autonomous systems vulnerable to graceful failure paralysis, where they cannot distinguish between a safe, degraded state and a catastrophic hazard during an ongoing attack. This paper presents RobResilience, an implementation of a formal resilience framework for embodied cyber-physical systems in a Webots simulation environment, using a PR2 robot and ROS2. The framework evaluates three predicates at runtime: tolerable disruption ($δ$), tolerable degradation ($γ$), and mitigation feasibility ($μ$), over a compromised device set derived from IDS confidence scores. When resilience is lost, the framework triggers available mitigation strategies. We evaluate our implementation through eight attack scenarios that systematically cover all possible combinations of the predicate state space, varying attack targets, degradation rates, and mitigation availability. Results confirm that the runtime behaviour of the implementation is consistent with the theoretical definitions.
