论文/arXiv 2609.17349·22 天前

RobResilience：面向信息物理具身系统的韧性框架实现与评估

RobResilience针对攻击下安全退化判定缺口，以运行时谓词与缓解策略在Webots中用PR2和ROS2验证。

AI 整理

• 仿真与训练
• 评测与安全

原文链接：RobResilience: Implementing and Evaluating a Resilience Framework for Cyber-Physical Embodied Systems（arXiv 2609.17349 · 发布日期：2026-10-06）

RobResilience: Implementing and Evaluating a Resilience Framework for Cyber-Physical Embodied Systems

RobResilience针对攻击下安全退化判定缺口，以运行时谓词与缓解策略在Webots中用PR2和ROS2验证。

核心要点

• 现有安全方法擅长检测，但缺少判断扰动和性能退化是否仍安全的运行时机制。
• 框架基于IDS置信分数得到受损设备集，评估δ、γ、μ三个运行时谓词。
• 当韧性丧失时，RobResilience会触发系统中可用的缓解策略。
• 八个攻击场景覆盖谓词状态组合，结果与理论定义的运行时行为一致。

验证范围与局限：仅在Webots仿真环境中，基于PR2和ROS2的八个攻击场景验证。

英文摘要 (Abstract)

In embodied cyber-physical systems, active cyberattacks pose an immediate threat not just to data, but to physical integrity and human safety. While existing security approaches excel at detection, they lack the runtime mechanisms to determine whether a disruption is tolerable or if performance degradation remains within safe operational bounds. This gap leaves autonomous systems vulnerable to graceful failure paralysis, where they cannot distinguish between a safe, degraded state and a catastrophic hazard during an ongoing attack. This paper presents RobResilience, an implementation of a formal resilience framework for embodied cyber-physical systems in a Webots Simulator (Webots) simulation environment, using a Personal Robot 2 (PR2) robot and Robot Operating System 2 (ROS2). The framework evaluates three predicates at runtime: tolerable disruption (δ), tolerable degradation (γ), and mitigation feasibility (μ), over a compromised device set derived from IDS confidence scores. When resilience is lost, the framework triggers available mitigation strategies. We evaluate our implementation through eight attack scenarios that systematically cover all possible combinations of the predicate state space, varying attack targets, degradation rates, and mitigation availability. Results confirm that the runtime behaviour of the implementation is consistent with the theoretical definitions.1

作者：Gysella Imrell, Emanuele Miotto, Mahya Mohammadi Kashani, Mauro Conti, Alberto Giaretta

来源

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1. arXiv 2609.17349：RobResilience: Implementing and Evaluating a Resilience Framework for Cyber-Physical Embodied Systems访问 2026-10-21