Intelligent Physical Attack Against Mobile Robots With Obstacle-Avoidance

TL;DR

This paper introduces an intelligent physical attack method that traps mobile robots by learning obstacle-avoidance behaviors from external observations, revealing new physical security threats without system access.

Contribution

It presents a novel attack approach that learns obstacle-avoidance mechanisms externally and develops algorithms to efficiently trap robots, highlighting physical security vulnerabilities.

Findings

The attack effectively traps robots with low path costs.

Algorithms converge and have proven performance bounds.

Simulations and experiments confirm attack success.

Abstract

The security issue of mobile robots has attracted considerable attention in recent years. In this paper, we propose an intelligent physical attack to trap mobile robots into a preset position by learning the obstacle-avoidance mechanism from external observation. The salient novelty of our work lies in revealing the possibility that physical-based attacks with intelligent and advanced design can present real threats, while without prior knowledge of the system dynamics or access to the internal system. This kind of attack cannot be handled by countermeasures in traditional cyberspace security. To practice, the cornerstone of the proposed attack is to actively explore the complex interaction characteristic of the victim robot with the environment, and learn the obstacle-avoidance knowledge exhibited in the limited observations of its behaviors. Then, we propose shortest-path and hands-off attack algorithms to find efficient attack paths from the tremendous motion space, achieving the driving-to-trap goal with low costs in terms of path length and activity period, respectively. The convergence of the algorithms is proved and the attack performance bounds are further derived. Extensive simulations and real-life experiments illustrate the effectiveness of the proposed attack, beckoning future investigation for the new physical threats and defense on robotic systems.