Cybersecurity and Embodiment Integrity for Modern Robots: A Conceptual Framework

2024-01-15

arXiv.org

AI Summary

To address cybersecurity and physical ontology integrity challenges in IoT/ROS-driven modular robots arising from device heterogeneity, this paper proposes the first unified conceptual framework integrating cyber and physical security. We formally define “ontology integrity” as a novel security dimension; analyze how device-level attacks differentially impact task execution and physical safety; and introduce three core properties: bidirectional task-device awareness, dynamic trust evaluation, and cross-layer resilient coupling. Leveraging conceptual modeling, threat-impact analysis, and architectural decoupling of ROS/IoT layers, we establish design principles for robot self-perception capabilities. The framework provides a theoretical foundation and guiding blueprint for verifiably secure architectures, adaptive defense mechanisms, and embodied trustworthy computing—enabling rigorous assurance of both functional correctness and physical safety in heterogeneous robotic systems. (149 words)

Technology Category

• Intelligent Robots: Multimodal Perception & Sensor Fusion
• Philosophy and Ethics of AI: Safety, Robustness & Trustworthiness
• Natural Language Processing: Safety and Robustness

Application Category

• Responsible Web: Machine-in-the-loop, human agency and autonomy
• Security and Privacy: Data transparency and provenance
• Systems and Infrastructure for Web, Mobile and WoT: Location- and context-aware Web and WoT applications and services

Abstract

Modern robots are stepping away from monolithic entities built using ad-hoc sensors and actuators, due to new technologies and communication paradigms, such as the Internet of Things (IoT) and the Robotic Operating System (ROS). Using such paradigms, robots can be built by acquiring heterogeneous standard devices and putting them in communication with each other. This approach brings high degrees of modularity, but it also yields uncertainty of providing cybersecurity assurances, and guarantees on the integrity of the embodiment. In this paper, we first illustrate how cyberattacks on different devices can have radically different consequences on the robot's ability to complete its tasks and preserve its embodiment. We also claim that modern robots should have self-awareness for what it concerns such aspects, and formulate the different characteristics that robots should integrate for doing so. Then, we show that achieving these propositions requires that robots possess at least three properties that conceptually link devices and tasks. Last, we reflect on how these three properties could be achieved in a larger conceptual framework.

Problem

• Address cybersecurity risks in modular robot embodiments
• Establish self-awareness for robot integrity and task completion
• Integrate device-task mapping properties within cybersecurity frameworks

Innovation

• Integrates IoT and ROS for modular robot design
• Proposes self-awareness for cybersecurity and embodiment integrity
• Links robot properties to NIST and MITRE frameworks