Stealthy Attacks Against Robotic Autonomous Vehicles
This project contains simulations for triggering stealthy attacks against robotic vehicles. We use ArduPilot SITL to demonstrate three types of stealthy attacks namely: i) False Data Injection, ii) Artificial Delay, iii) Switch Mode attacks, on copter and rover.
Building the docker image
Clone the project
git clone https://github.com/DependableSystemsLab/stealthy-attacks.git cd stealthy-attacks
Build docker image
docker build -t stealthy-attacks DockerFile/.
Run docker Simulator The simulator can be executed by running the docker image and then following the steps given here http://ardupilot.org/dev/docs/setting-up-sitl-on-linux.html For easy execution we have provided a script that will start the simultor.
./startSimulatorWithAttack.sh copter --console --map
To run a mission, use this command:
wp load ../Tools/autotest/mission-1.txt mode guided arm throttle takeoff 100 wp set 2 mode auto
When the RV reaches its destination, execute the command
Running ArduPilot locally
To use a local copy of ArduPilot and trigger the attacks in the simulator use the following steps:
- Clone the Project
- Run ardupilot locally
cd stealthy-attacks/Simulator/ardupilot-attack-version/ArduCopter ../Tools/autotest/sim_vehicle.py --console --map
Follow the steps given here http://ardupilot.org/dev/docs/copter-sitl-mavproxy-tutorial.html for further details.
Deploying Firmware in Vehicles
The deployable firmware for Pixhawk2 vehicles are provided. For more information on deploying custom firmware,please follow the instructions given here http://firmware.ardupilot.org/. As firmwares can only be deployed in RVs builton Pixhawk platform, we provide videos showing the effects of the attacks. The demo videos are available here https://bit.ly/2HG9Qnw