Security Considerations in AI-Robotics: A Survey of Current Methods, Challenges, and Opportunities

Robotics and Artificial Intelligence (AI) have been inextricably intertwined since their inception. Today, AI-Robotics systems have become an integral part of our daily lives, from robotic vacuum cleaners to semi-autonomous cars. These systems are built upon three fundamental architectural elements: perception, navigation and planning, and control. However, while the integration of AI-Robotics systems has enhanced the quality our lives, it has also presented a serious problem - these systems are vulnerable to security attacks. The physical components, algorithms, and data that make up AI-Robotics systems can be exploited by malicious actors, potentially leading to dire consequences. Motivated by the need to address the security concerns in AI-Robotics systems, this paper presents a comprehensive survey and taxonomy across three dimensions: attack surfaces, ethical and legal concerns, and Human-Robot Interaction (HRI) security. Our goal is to provide users, developers and other stakeholders with a holistic understanding of these areas to enhance the overall AI-Robotics system security. We begin by surveying potential attack surfaces and provide mitigating defensive strategies. We then delve into ethical issues, such as dependency and psychological impact, as well as the legal concerns regarding accountability for these systems. Besides, emerging trends such as HRI are discussed, considering privacy, integrity, safety, trustworthiness, and explainability concerns. Finally, we present our vision for future research directions in this dynamic and promising field

Diversification and obfuscation techniques for software security: A systematic literature review

Context: Diversification and obfuscation are promising techniques for securing software and protecting computers from harmful malware. The goal of these techniques is not removing the security holes, but making it difficult for the attacker to exploit security vulnerabilities and perform successful attacks.Objective: There is an increasing body of research on the use of diversification and obfuscation techniques for improving software security; however, the overall view is scattered and the terminology is unstructured. Therefore, a coherent review gives a clear statement of state-of-the-art, normalizes the ongoing discussion and provides baselines for future research.Method: In this paper, systematic literature review is used as the method of the study to select the studies that discuss diversification/obfuscation techniques for improving software security. We present the process of data collection, analysis of data, and report the results.Results: As the result of the systematic search, we collected 357 articles relevant to the topic of our interest, published between the years 1993 and 2017. We studied the collected articles, analyzed the extracted data from them, presented classification of the data, and enlightened the research gaps.Conclusion: The two techniques have been extensively used for various security purposes and impeding various types of security attacks. There exist many different techniques to obfuscate/diversify programs, each of which targets different parts of the programs and is applied at different phases of software development life-cycle. Moreover, we pinpoint the research gaps in this field, for instance that there are still various execution environments that could benefit from these two techniques, including cloud computing, Internet of Things (IoT), and trusted computing. We also present some potential ideas on applying the techniques on the discussed environments.</p

Denial-of-service attack modelling and detection for HTTP/2 services

Businesses and society alike have been heavily dependent on Internet-based services, albeit with experiences of constant and annoying disruptions caused by the adversary class. A malicious attack that can prevent establishment of Internet connections to web servers, initiated from legitimate client machines, is termed as a Denial of Service (DoS) attack; volume and intensity of which is rapidly growing thanks to the readily available attack tools and the ever-increasing network bandwidths. A majority of contemporary web servers are built on the HTTP/1.1 communication protocol. As a consequence, all literature found on DoS attack modelling and appertaining detection techniques, addresses only HTTP/1.x network traffic. This thesis presents a model of DoS attack traffic against servers employing the new communication protocol, namely HTTP/2. The HTTP/2 protocol significantly differs from its predecessor and introduces new messaging formats and data exchange mechanisms. This creates an urgent need to understand how malicious attacks including Denial of Service, can be launched against HTTP/2 services. Moreover, the ability of attackers to vary the network traffic models to stealthy affects web services, thereby requires extensive research and modelling. This research work not only provides a novel model for DoS attacks against HTTP/2 services, but also provides a model of stealthy variants of such attacks, that can disrupt routine web services. Specifically, HTTP/2 traffic patterns that consume computing resources of a server, such as CPU utilisation and memory consumption, were thoroughly explored and examined. The study presents four HTTP/2 attack models. The first being a flooding-based attack model, the second being a distributed model, the third and fourth are variant DoS attack models. The attack traffic analysis conducted in this study employed four machine learning techniques, namely Naïve Bayes, Decision Tree, JRip and Support Vector Machines. The HTTP/2 normal traffic model portrays online activities of human users. The model thus formulated was employed to also generate flash-crowd traffic, i.e. a large volume of normal traffic that incapacitates a web server, similar in fashion to a DoS attack, albeit with non-malicious intent. Flash-crowd traffic generated based on the defined model was used to populate the dataset of legitimate network traffic, to fuzz the machine learning-based attack detection process. The two variants of DoS attack traffic differed in terms of the traffic intensities and the inter-packet arrival delays introduced to better analyse the type and quality of DoS attacks that can be launched against HTTP/2 services. A detailed analysis of HTTP/2 features is also presented to rank relevant network traffic features for all four traffic models presented. These features were ranked based on legitimate as well as attack traffic observations conducted in this study. The study shows that machine learning-based analysis yields better classification performance, i.e. lower percentage of incorrectly classified instances, when the proposed HTTP/2 features are employed compared to when HTTP/1.1 features alone are used. The study shows how HTTP/2 DoS attack can be modelled, and how future work can extend the proposed model to create variant attack traffic models that can bypass intrusion-detection systems. Likewise, as the Internet traffic and the heterogeneity of Internet-connected devices are projected to increase significantly, legitimate traffic can yield varying traffic patterns, demanding further analysis. The significance of having current legitimate traffic datasets, together with the scope to extend the DoS attack models presented herewith, suggest that research in the DoS attack analysis and detection area will benefit from the work presented in this thesis

Towards more Effective Censorship Resistance Systems

Internet censorship resistance systems (CRSs) have so far been designed in an ad-hoc manner. The fundamentals are unclear and the foundations are shaky. Censors are, more and more, able to take advantage of this situation. Future censorship resistance systems ought to be built from strong theoretical underpinnings and be based on empirical evidence. Our approach is based on systematizing the CRS field and its players. Informed by this systematization we develop frameworks that have broad scope, from which we gain general insight as well as answers to specific questions. We develop theoretical and simulation-based analysis tools 1) for learning how to manipulate censor behavior using game-theoretic tactics, 2) for learning about CRS-client activity levels on CRS networks, and finally 3) for evaluating security parameters in CRS designs. We learn that there are gaps in the CRS designer's arsenal: certain censor attacks go unmitigated and the dynamics of the censorship arms race are not modeled. Our game-theoretic analysis highlights how managing the base rate of CRS traffic can cause stable equilibriums where the censor allows some amount of CRS communication to occur. We design and deploy a privacy-preserving data gathering tool, and use it to collect statistics to help answer questions about the prevalence of CRS-related traffic in actual CRS communication networks. Finally, our security evaluation of a popular CRS exposes suboptimal settings, which have since been optimized according to our recommendations. All of these contributions help support the thesis that more formal and empirically driven CRS designs can have better outcomes than the current state of the art