Plataforma Experimental para el Estudio de la Vulnerabilidad Hardware en los Robots Móviles: el Bus I2C como Caso de Estudio

Gomez-Bravo, F.; Medina García, J.; Jiménez Naharro, R.; Gómez Galán, J.A.; Sánchez Raya, M.

doi:10.1016/j.riai.2017.02.002

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Resumen

Este artículo presenta una plataforma experimental para estudiar los efectos de las vulnerabilidades hardware de los robots móviles. La plataforma se ha diseñado de forma que los elementos hardware que intervienen en el proceso de navegación pueden ser monitorizados durante el funcionamiento del robot, y, si es el caso, su comportamiento puede ser alterado, simulando de esta forma una situación de fallo. El artículo muestra como caso particular de estudio la vulnerabilidad del Bus I2C cuando se producen anomalías en la señal de reloj. Se incluyen un conjunto de resultados experimentales que confirman el interés de las vulnerabilidades estudiadas y la aplicabilidad de la plataforma desarrollada.

Palabras clave:

Robots móviles

vulnerabilidad hardware

FPGA

hardware configurable

Abstract

This paper presents an experimental platform for studying the effects of hardware vulnerabilities in mobile robots. The platform is designed so that the hardware, involved in the navigation process, can be monitored during the robot operation and, if desired, their behavior can be altered, allowing the simulation of a failure. The paper shows a particular case of study: the I2C Bus vulnerability when some anomalies appear in the clock signal. A set of experimental results confirm the interest of the studied vulnerabilities and the applicability of the developed platform.

Keywords:

Mobile robot

hardware vulnerability

FPGA

configurable hardware

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Referencias no citadas

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