基于ROS2的无人机仿真框架，用于测试网络物理安全攻防。
ROS2-Based Simulation Framework for Cyberphysical Security Analysis of UAVs
- 用ROS2构建模块化仿真框架，支持自定义攻击与防御测试
- 集成运动规划、控制及通信模型，可模拟真实无人机行为
- 适合研究者在无硬件条件下开展无人机安全实验
本文提出一种面向无人飞行器（UAV）网络物理安全攻防测试的新型仿真框架。随着对无人机安全性的深入研究，暴露了多种攻击面及部分防御机制。然而，航空监管机构对真实无人机安全研究的限制日益严格，且硬件实验平台成本高昂，亟需可替代或缩小硬件实验范围的仿真工具。不同攻击机制的研究需要仿真系统具备特定功能。本框架基于ROS2构建，利用其模块化、可复现性、可定制性以及Gazebo等开源工具的优势，内置运动规划器、控制器、通信模型和攻击模型。文中展示了多个研究应用案例，验证了该框架的有效性与实用性。
原文摘要 · Abstract (English)
We present a new simulator of Uncrewed Aerial Vehicles (UAVs) that is tailored to the needs of testing cyber-physical security attacks and defenses. Recent investigations into UAV safety have unveiled various attack surfaces and some defense mechanisms. However, due to escalating regulations imposed by aviation authorities on security research on real UAVs, and the substantial costs associated with hardware test-bed configurations, there arises a necessity for a simulator capable of substituting for hardware experiments, and/or narrowing down their scope to the strictly necessary. The study of different attack mechanisms requires specific features in a simulator. We propose a simulation framework based on ROS2, leveraging some of its key advantages, including modularity, replicability, customization, and the utilization of open-source tools such as Gazebo. Our framework has a built-in motion planner, controller, communication models and attack models. We share examples of research use cases that our framework can enable, demonstrating its utility.
Thank you to arXiv for use of its open access interoperability. PaperDance 不是 arXiv 官方产品；中文卡片由大模型生成，请以原文为准。