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

mode land

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