Scanning the Internet for ROS: A View of Security in Robotics Research
Scanning the Internet for ROS: A View of Security in Robotics Research
复制标题
扫描互联网中的 ROS：机器人研究中的安全视角
DOI：
10.1109/icra.2019.8794451
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发表时间：
2018
期刊：
影响因子：
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通讯作者：
Rodrigo Fonseca
中科院分区：
文献类型：
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作者：
Nicholas DeMarinis;Stefanie Tellex;V. Kemerlis;G. Konidaris;Rodrigo Fonseca
安全在机器人技术中尤为重要，因为机器人可以直接感知和影响物理世界。我们描述了机器人操作系统（ROS）实例扫描整个互联网IPv4地址空间的结果，ROS是一种广泛使用的机器人软件平台。我们确定了许多支持ROS的主机，这些主机暴露在公共互联网上，从而允许任何人访问机器人传感器和执行器。作为概念验证，在相关研究人员的同意下，我们能够读取图像传感器信息并驱动美国大学研究实验室中的物理机器人。本文概述了我们的研究结果，包括我们的方法，公共访问平台的地理分布，可用的传感器和执行器数据的种类，以及我们扫描发现的不同类型的机器人和传感器。此外，我们还提供了关于最佳实践的建议，以便在将来减轻这些安全问题。
Security is particularly important in robotics, as robots can directly perceive and affect the physical world. We describe the results of a scan of the entire IPv4 address space of the Internet for instances of the Robot Operating System (ROS), a widely used robotics software platform. We identified a number of hosts supporting ROS that are exposed to the public Internet, thereby allowing anyone to access robotic sensors and actuators. As a proof of concept, and with the consent of the relevant researchers, we were able to read image sensor information from and actuate a physical robot present in a research lab in an American university. This paper gives an overview of our findings, including our methodology, the geographic distribution of publicly-accessible platforms, the sorts of sensor and actuator data that is available, and the different kinds of robots and sensors that our scan uncovered. Additionally, we offer recommendations on best practices to mitigate these security issues in the future.