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.