Runtime Verification for Anomaly Detection of Robotic Systems Security

Creative Commons License

KIRCA Y. S., DEĞİRMENCİ E., Demirci Z., YAZICI A., ÖZKAN M., Ergun S., ...More

Machines, vol.11, no.2, 2023 (SCI-Expanded) identifier identifier

  • Publication Type: Article / Article
  • Volume: 11 Issue: 2
  • Publication Date: 2023
  • Doi Number: 10.3390/machines11020166
  • Journal Name: Machines
  • Journal Indexes: Science Citation Index Expanded (SCI-EXPANDED), Scopus
  • Keywords: runtime verification, ROS, anomaly detection, security
  • Eskisehir Osmangazi University Affiliated: Yes


Robotic systems are widely used in industry, agriculture, the inspection of infrastructure, and even in our daily lives. The safety and security of robotic systems have become a primary concern as their interaction with humans increases. In this context, attacks on robotic systems have increased for diversified field applications. It is necessary to accurately detect these abnormal events in these systems as soon as possible. However, these systems also need a runtime verification approach on whether they conform to the established specifications. In this study, runtime verification for anomaly detection methods is proposed for the security of the robot operating system (ROS). Firstly, an anomaly detection method is proposed to detect unexpected situations, such as the number of the received packages being decreased under DoS attacks. Then, a holistic runtime verification architecture is proposed for the anomaly detection method. This architecture consists of three major entities: a verification device, an attacker device, and a robotic platform without losing generality. In the verification device, ROSMonitoring and Oracle are used to implement runtime verification. The proposed architecture is verified through an experimental setup. It is shown that the architecture can be used for runtime verification of different anomaly detection algorithms. A discussion on the security of robotic systems is also presented.