NDLI: Attack-Resilient Sensor Fusion for Safety-Critical Cyber-Physical Systems

Content Provider	ACM Digital Library
Author	Lee, Insup Pajic, Miroslav Ivanov, Radoslav
Copyright Year	2016
Abstract	This article focuses on the design of safe and attack-resilient Cyber-Physical Systems (CPS) equipped with multiple sensors measuring the same physical variable. A malicious attacker may be able to disrupt system performance through compromising a subset of these sensors. Consequently, we develop a precise and resilient sensor fusion algorithm that combines the data received from all sensors by taking into account their specified precisions. In particular, we note that in the presence of a shared bus, in which messages are broadcast to all nodes in the network, the attacker’s impact depends on what sensors he has seen before sending the corrupted measurements. Therefore, we explore the effects of communication schedules on the performance of sensor fusion and provide theoretical and experimental results advocating for the use of the $\textit{Ascending}$ schedule, which orders sensor transmissions according to their precision starting from the most precise. In addition, to improve the accuracy of the sensor fusion algorithm, we consider the dynamics of the system in order to incorporate past measurements at the current time. Possible ways of mapping sensor measurement history are investigated in the article and are compared in terms of the confidence in the final output of the sensor fusion. We show that the precision of the algorithm using history is never worse than the no-history one, while the benefits may be significant. Furthermore, we utilize the complementary properties of the two methods and show that their combination results in a more precise and resilient algorithm. Finally, we validate our approach in simulation and experiments on a real unmanned ground robot.
Starting Page	1
Ending Page	24
Page Count	24
File Format	PDF
ISSN	15399087
e-ISSN	15583465
DOI	10.1145/2847418
Volume Number	15
Issue Number	1
Journal	ACM Transactions on Embedded Computing Systems (TECS)
Language	English
Publisher	Association for Computing Machinery (ACM)
Publisher Date	2016-02-20
Publisher Place	New York
Access Restriction	One Nation One Subscription (ONOS)
Subject Keyword	Cyber-physical systems security Fault-tolerance Fault-tolerant algorithms Sensor fusion
Content Type	Text
Resource Type	Article
Subject	Hardware and Architecture Software

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
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