TY  - CONF
AU  - Jokić, Aleksandar
AU  - Khazraei, Amir
AU  - Petrović, Milica
AU  - Jakovljević, Živana
AU  - Pajić, Miroslav
PY  - 2023
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/7676
AB  - Visual servoing represents a control strategy
capable of driving dynamical systems from the current to the
desired pose, when the only available information is the images
generated at both poses. In this work, we analyze vulnerability
of such systems and introduce two types of attacks to deceive
visual servoing controller within a wheeled mobile robotic
system. The attack goal is to alter the visual servoing procedure
in such a way that mobile robot achieves the pose defined by an
attacker instead of the desired one. Specifically, the attacks
exploit image transformations developed using a methodology
based on simulated annealing. The main difference between the
attacks is the considered threat model – i.e., how the attacker
has infiltrated the system. The first attack assumes the realtime camera feed has been compromised and thus, the images
from the current pose are modified (e.g., during the acquisition
or communication); for the second, only the desired destination
image is potentially altered. Finally, in 3D simulations and realworld experiments, we show the effectiveness of cyber-attacks.
C3  - 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
T1  - Cyber-Attacks on Wheeled Mobile Robotic Systems with Visual Servoing Control
EP  - 6348
SP  - 6342
DO  - 10.1109/IROS55552.2023.10341376
ER  - 

@conference{
author = "Jokić, Aleksandar and Khazraei, Amir and Petrović, Milica and Jakovljević, Živana and Pajić, Miroslav",
year = "2023",
abstract = "Visual servoing represents a control strategy
capable of driving dynamical systems from the current to the
desired pose, when the only available information is the images
generated at both poses. In this work, we analyze vulnerability
of such systems and introduce two types of attacks to deceive
visual servoing controller within a wheeled mobile robotic
system. The attack goal is to alter the visual servoing procedure
in such a way that mobile robot achieves the pose defined by an
attacker instead of the desired one. Specifically, the attacks
exploit image transformations developed using a methodology
based on simulated annealing. The main difference between the
attacks is the considered threat model – i.e., how the attacker
has infiltrated the system. The first attack assumes the realtime camera feed has been compromised and thus, the images
from the current pose are modified (e.g., during the acquisition
or communication); for the second, only the desired destination
image is potentially altered. Finally, in 3D simulations and realworld experiments, we show the effectiveness of cyber-attacks.",
journal = "2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)",
title = "Cyber-Attacks on Wheeled Mobile Robotic Systems with Visual Servoing Control",
pages = "6348-6342",
doi = "10.1109/IROS55552.2023.10341376"
}

Jokić, A., Khazraei, A., Petrović, M., Jakovljević, Ž.,& Pajić, M.. (2023). Cyber-Attacks on Wheeled Mobile Robotic Systems with Visual Servoing Control. in 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 6342-6348.
https://doi.org/10.1109/IROS55552.2023.10341376

Jokić A, Khazraei A, Petrović M, Jakovljević Ž, Pajić M. Cyber-Attacks on Wheeled Mobile Robotic Systems with Visual Servoing Control. in 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). 2023;:6342-6348.
doi:10.1109/IROS55552.2023.10341376 .

Jokić, Aleksandar, Khazraei, Amir, Petrović, Milica, Jakovljević, Živana, Pajić, Miroslav, "Cyber-Attacks on Wheeled Mobile Robotic Systems with Visual Servoing Control" in 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (2023):6342-6348,
https://doi.org/10.1109/IROS55552.2023.10341376 . .