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gr-PHYSEC: Real-time Channel-based Key Generation for Physical Layer Secure Wireless Communications
gr-PHYSEC GNU Radio module derives symmetric encryption keys from wireless channel randomness using a neural network, validated on robotic platforms with ADALM-Pluto SDRs.
The paper introduces gr-PHYSEC, a GNU Radio out-of-tree module for real-time physical-layer key generation that derives symmetric keys from the wireless channel's inherent randomness instead of pre-shared secrets. A trained neural network extracts channel features between trusted parties during probe exchanges; features are quantized into binary keys, reconciled via Reed-Solomon encoding, and secured with SHA-512 hashing before direct use for encryption. Real-world experiments at the FAU CAAI connected robotics testbed using ADALM Pluto software-defined radios and NVIDIA Jetson Orin demonstrated low key disagreement rates and NIST-verified randomness. Source code is publicly available on GitHub.
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RobResilience: Implementing and Evaluating a Resilience Framework for Cyber-Physical Embodied Systems
RobResilience implements a runtime resilience framework for robots in Webots/ROS2, evaluating tolerable disruption, degradation, and mitigation feasibility across eight attack scenarios.
The paper implements a formal resilience framework for embodied cyber-physical systems using a PR2 robot and ROS2 in a Webots simulation. At runtime it evaluates three predicates — tolerable disruption (δ), tolerable degradation (γ), and mitigation feasibility (μ) — over a compromised device set derived from IDS confidence scores, triggering mitigation strategies when resilience is lost. Eight attack scenarios systematically covering the full predicate state space confirm runtime behavior matches theoretical definitions. The work addresses 'graceful failure paralysis,' where autonomous systems cannot distinguish safe degraded states from catastrophic hazards during attacks.
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Illusion of Depth: Revealing Hidden Stereo Vision Vulnerabilities in Depth Estimation
Simple repeating patterns let attackers shift stereo-camera depth estimates by up to 20 meters, triggering emergency braking in autonomous driving frameworks at 40 km/h.
The paper reveals an intrinsic vulnerability in stereo cameras stemming from pixel sampling and calibration processes, letting attackers finely control estimated depth of real obstacles using simple repeating patterns without adversarial ML techniques. The attack was evaluated against BM and SGBM stereo matching algorithms, deep learning models PSMNet, MoCha-Stereo, and UniMatch, the stereo-LiDAR fusion model SGM-DDC, and commercial cameras ZED2 and Intel RealSense D435; on ZED2, obstacles can be displaced up to 20 meters farther or 12 meters closer. A 0.5-second attack triggered emergency braking in a popular autonomous driving framework, with feasibility confirmed at driving speeds up to 40 km/h using CARLA. State-of-the-art defenses proved ineffective, and the authors propose a similarity-score strategy to dynamically detect and suppress depth discrepancies.
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