Robot Operating System (ROS) has brought the excellent potential for automation in various fields involving production tasks, productivity enhancement, and the simplification of human operations. However, ROS highly relies on communication but lacks secure data sharing mechanisms. Securing confidential data exchange between multi-robots presents significant challenges in multi-robot interactions. In this paper, we introduce AuthROS, a secure and convenient authorization framework for ROS nodes with absolute security and high availability based on a private Ethereum network and SM algorithms. To our best knowledge, AuthROS is the first secure data-sharing framework for robots loaded with ROS. This framework can meet the requirements for immutability and security of confidential data exchanged between ROS nodes. In addition, an authority-granting and identity-verification mechanism are proposed to execute atomically to ensure trustworthy data exchange without third-party. Both an SM2 key exchange and an SM4 plaintext encryption mechanism are proposed for data transmission security. A data digest uploading scheme is also implemented to improve the efficiency of data querying and uploading on the Ethereum network. Experimental results demonstrate that it can generate a digest from 800KB encrypted data in 6.34ms. Through security analysis, AuthROS achieves secure data exchange, data operations detection, and Node Forging attack protection.
翻译:机器人操作系统(ROS)在涉及生产任务、提高生产率和简化人类作业的各个领域带来了自动化的极好潜力,然而,ROS高度依赖通信,但缺乏安全的数据共享机制。确保多机器人之间的机密数据交换在多机器人互动方面提出了重大挑战。在本文件中,我们为具有绝对安全和基于私人Etheinum网络和SM算法的高可用性的ROS节点引入了AuthROS安全、方便的绝对安全授权框架。据我们所知,AuthROS是装有ROS的机器人的第一个安全的数据共享框架。这个框架可以满足ROS节点之间交换的机密数据不易移动和安全的要求。此外,还提议建立一个授权和身份验证机制,以确保在没有第三方的情况下进行可靠的数据交换。为数据传输安全,提出了SM2关键交换和SM4纯文本加密机制。还实施了数据摘要上传计划,以提高Ezeeneum网络的数据查询和上载数据查询和上载的效率。这个框架可以满足ROS节点之间的保密性和安全性要求。实验性结果显示,AKS在安全性探测中进行数据加密。