{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2024,10,30]],"date-time":"2024-10-30T22:22:28Z","timestamp":1730326948424,"version":"3.28.0"},"publisher-location":"New York, NY, USA","reference-count":57,"publisher":"ACM","funder":[{"name":"National Research Foundation of Korea (NRF) Grant funded by the Korean Government Ministry of Science and ICT (MSIT)","award":["NRF-2021R1A2C2014428"]}],"content-domain":{"domain":["dl.acm.org"],"crossmark-restriction":true},"short-container-title":[],"published-print":{"date-parts":[[2023,10,16]]},"DOI":"10.1145\/3607199.3607221","type":"proceedings-article","created":{"date-parts":[[2023,10,3]],"date-time":"2023-10-03T22:30:51Z","timestamp":1696372251000},"page":"547-563","update-policy":"http:\/\/dx.doi.org\/10.1145\/crossmark-policy","source":"Crossref","is-referenced-by-count":1,"title":["SCVMON: Data-oriented attack recovery for RVs based on safety-critical variable monitoring"],"prefix":"10.1145","author":[{"ORCID":"http:\/\/orcid.org\/0009-0001-4296-3687","authenticated-orcid":false,"given":"Sangbin","family":"Park","sequence":"first","affiliation":[{"name":"Korea University, Republic of Korea"}]},{"ORCID":"http:\/\/orcid.org\/0000-0003-3131-0215","authenticated-orcid":false,"given":"Youngjoon","family":"Kim","sequence":"additional","affiliation":[{"name":"Korea University, Republic of Korea"}]},{"ORCID":"http:\/\/orcid.org\/0000-0003-0692-2543","authenticated-orcid":false,"given":"Dong Hoon","family":"Lee","sequence":"additional","affiliation":[{"name":"Korea University, Republic of Korea"}]}],"member":"320","published-online":{"date-parts":[[2023,10,16]]},"reference":[{"key":"e_1_3_2_1_1_1","unstructured":"Ardupilot. 2021. ArduPilot Complete parameter list. https:\/\/ardupilot.org\/copter\/docs\/parameters.html"},{"key":"e_1_3_2_1_2_1","unstructured":"ArduPilot. 2021. ArduPilot SITL simulator. https:\/\/ardupilot.org\/dev\/docs\/sitl-simulator-software-in-the-loop.html"},{"key":"e_1_3_2_1_3_1","unstructured":"ArduPilot. 2021. Autopilot Inputs and Outputs. https:\/\/ardupilot.org\/copter\/docs\/common-flight-controller-io.html"},{"key":"e_1_3_2_1_4_1","unstructured":"ArduPilot. 2022. ArduPilot. https:\/\/ardupilot.org\/"},{"key":"e_1_3_2_1_5_1","unstructured":"ARM. 2022. Trustzone for Cortex-M. https:\/\/www.arm.com\/technologies\/trustzone-for-cortex-m"},{"key":"e_1_3_2_1_6_1","unstructured":"BBC. 2016. Drone hits british Airways plane approaching Heathrow Airport. https:\/\/www.bbc.com\/news\/uk-36067591"},{"key":"e_1_3_2_1_7_1","unstructured":"BBC. 2016. US opens investivation into Tesla afeter fatal crash. https:\/\/www.bbc.com\/news\/technology-36680043"},{"key":"e_1_3_2_1_8_1","unstructured":"BBC. 2017. Drone collides with commercial aeroplane in Canada. https:\/\/www.bbc.com\/news\/technology-41635518"},{"key":"e_1_3_2_1_9_1","unstructured":"BBC. 2018. Tesla in fatal California crash was on Autopilot. https:\/\/www.bbc.com\/news\/world-us-canada-43604440"},{"volume-title":"Analysis Frameworks, and Analysis Tools","author":"Best Katharina\u00a0Ley","key":"e_1_3_2_1_10_1","unstructured":"Katharina\u00a0Ley Best, Jon Schmid, Shane Tierney, Jalal Awan, Nahom\u00a0M. Beyene, Maynard\u00a0A. Holliday, Raza Khan, and Karen Lee. 2020. How to Analyze the Cyber Threat from Drones: Background, Analysis Frameworks, and Analysis Tools. RAND Corporation, Santa Monica, CA."},{"key":"e_1_3_2_1_11_1","doi-asserted-by":"publisher","DOI":"10.14722\/ndss.2022.24244"},{"key":"e_1_3_2_1_12_1","doi-asserted-by":"publisher","DOI":"10.1145\/3372297.3417249"},{"volume-title":"RAID 2020 Proceedings - 23rd International Symposium on Research in Attacks, Intrusions and Defenses. 349\u2013364","year":"2020","author":"Choi Hongjun","key":"e_1_3_2_1_13_1","unstructured":"Hongjun Choi, Sayali Kate, Yousra Aafer, Xiangyu Zhang, and Dongyan Xu. 2020. Software-based realtime recovery from sensor attacks on robotic vehicles. In RAID 2020 Proceedings - 23rd International Symposium on Research in Attacks, Intrusions and Defenses. 349\u2013364."},{"key":"e_1_3_2_1_14_1","doi-asserted-by":"publisher","DOI":"10.1145\/3243734.3243752"},{"key":"e_1_3_2_1_15_1","doi-asserted-by":"publisher","DOI":"10.1145\/3359789.3359847"},{"key":"e_1_3_2_1_16_1","doi-asserted-by":"publisher","DOI":"10.1109\/DSN48987.2021.00020"},{"volume-title":"Controlling UAVs with Sensor Input Spoofing Attacks. In 10th USENIX Workshop on Offensive Technologies (WOOT 16)","year":"2016","author":"Davidson Drew","key":"e_1_3_2_1_17_1","unstructured":"Drew Davidson, Hao Wu, Rob Jellinek, Vikas Singh, and Thomas Ristenpart. 2016. Controlling UAVs with Sensor Input Spoofing Attacks. In 10th USENIX Workshop on Offensive Technologies (WOOT 16)."},{"key":"e_1_3_2_1_18_1","doi-asserted-by":"publisher","DOI":"10.1145\/3471621.3471869"},{"key":"e_1_3_2_1_19_1","first-page":"1277","article-title":"Algorithm for Solution of a Problem of Maximum Flow in Networks with Power Estimation","volume":"11","author":"Dinitz Yefim","year":"1970","unstructured":"Yefim Dinitz. 1970. Algorithm for Solution of a Problem of Maximum Flow in Networks with Power Estimation. Soviet Math. Dokl. 11 (1970), 1277\u20131280.","journal-title":"Soviet Math. Dokl."},{"volume-title":"Cross-Layer Retrofitting of UAVs Against Cyber-Physical Attacks. In 2018 IEEE International Conference on Robotics and Automation (ICRA).","year":"2018","author":"Fei Fan","key":"e_1_3_2_1_20_1","unstructured":"Fan Fei, Zhan Tu, Ruikun Yu, Taegyu Kim, Xiangyu Zhang, Dongyan Xu, and Xinyan Deng. 2018. Cross-Layer Retrofitting of UAVs Against Cyber-Physical Attacks. In 2018 IEEE International Conference on Robotics and Automation (ICRA)."},{"key":"e_1_3_2_1_21_1","doi-asserted-by":"publisher","DOI":"10.4153\/CJM-1956-045-5"},{"key":"e_1_3_2_1_22_1","unstructured":"Gazebo. 2022. Gazebo simulator. https:\/\/gazebosim.org\/home"},{"volume-title":"Reusable Unmanned Aerial Vehicles in Contested Environments: Preliminary Evaluation of Operational Concepts","author":"Hamilton Thomas","key":"e_1_3_2_1_23_1","unstructured":"Thomas Hamilton and David\u00a0A. Ochmanek\". 2020. Operating Low-Cost, Reusable Unmanned Aerial Vehicles in Contested Environments: Preliminary Evaluation of Operational Concepts. RAND Corporation, Santa Monica, CA."},{"key":"e_1_3_2_1_24_1","doi-asserted-by":"publisher","DOI":"10.1109\/MNET.2018.1800065"},{"key":"e_1_3_2_1_25_1","doi-asserted-by":"publisher","DOI":"10.14722\/ndss.2023.24112"},{"volume-title":"Swarmbug: Debugging Configuration Bugs in Swarm Robotics(ESEC\/FSE","year":"2021","author":"Jung Chijung","key":"e_1_3_2_1_26_1","unstructured":"Chijung Jung, Ali Ahad, Jinho Jung, Sebastian Elbaum, and Yonghwi Kwon. 2021. Swarmbug: Debugging Configuration Bugs in Swarm Robotics(ESEC\/FSE 2021)."},{"volume-title":"30th USENIX Security Symposium (USENIX Security 21)","year":"2021","author":"Khan Arslan","key":"e_1_3_2_1_27_1","unstructured":"Arslan Khan, Hyubgsub Kim, Byoungyoung Lee, Dongyan Xu, Antonio Bianchi, and Dave\u00a0Jing Tian. 2021. M2MON: Building an MMIO-based Security Reference Monitor for Unmanned Vehicles. In 30th USENIX Security Symposium (USENIX Security 21)."},{"key":"e_1_3_2_1_28_1","doi-asserted-by":"publisher","DOI":"10.14722\/ndss.2018.23107"},{"key":"e_1_3_2_1_29_1","doi-asserted-by":"publisher","DOI":"10.14722\/ndss.2021.24096"},{"volume-title":"PGPATCH: Policy-Guided Logic Bug Patching for Robotic Vehicles. 2022 IEEE Symposium on Security and Privacy.","year":"2022","author":"Kim Hyungsub","key":"e_1_3_2_1_30_1","unstructured":"Hyungsub Kim, Ozgur Ozmen, Z\u00a0Berkay Celik, Antonio Bianchi, and Dongyan Xu. 2022. PGPATCH: Policy-Guided Logic Bug Patching for Robotic Vehicles. 2022 IEEE Symposium on Security and Privacy."},{"volume-title":"PatchVerif: Discovering Faulty Patches in Robotic Vehicles. 32nd USENIX Security Symposium (USENIX Security 23)","year":"2023","author":"Kim Hyungsub","key":"e_1_3_2_1_31_1","unstructured":"Hyungsub Kim, Ozgur Ozmen, Z\u00a0Berkay Celik, Antonio Bianchi, and Dongyan Xu. 2023. PatchVerif: Discovering Faulty Patches in Robotic Vehicles. 32nd USENIX Security Symposium (USENIX Security 23)."},{"volume-title":"Proceedings of the 28th USENIX Security Symposium. 425\u2013442","year":"2019","author":"Kim Taegyu","key":"e_1_3_2_1_32_1","unstructured":"Taegyu Kim, Chung\u00a0Hwan Kim, Junghwan Rhee, Fan Fei, Zhan Tu, Gregory Walkup, Xiangyu Zhang, Xinyan Deng, and Dongyan Xu. 2019. RVFuzzer: Finding input validation bugs in robotic vehicles through control-guided testing. In Proceedings of the 28th USENIX Security Symposium. 425\u2013442."},{"volume-title":"29th USENIX Security Symposium (USENIX Security 20)","year":"2020","author":"Kim Taegyu","key":"e_1_3_2_1_33_1","unstructured":"Taegyu Kim, Altay Ozen, Fan Fei, Zhan Tu, Xiangyu Zhang, Xinyan Deng, Dave Tian, Dongyan Xu, and Chung\u00a0Hwan Kim. 2020. From Control Model to Program: Investigating Robotic Aerial Vehicle Accidents with MAYDAY. 29th USENIX Security Symposium (USENIX Security 20)."},{"key":"e_1_3_2_1_34_1","doi-asserted-by":"publisher","DOI":"10.1145\/2592798.2592824"},{"volume-title":"ARM TrustZone. In Proceedings of the 3rd Workshop on Micro Aerial Vehicle Networks, Systems, and Applications. 1\u20136.","year":"2017","author":"Liu Renju","key":"e_1_3_2_1_35_1","unstructured":"Renju Liu and Mani Srivastava. 2017. PROTC: PROTeCting Drone\u2019s Peripherals through ARM TrustZone. In Proceedings of the 3rd Workshop on Micro Aerial Vehicle Networks, Systems, and Applications. 1\u20136."},{"key":"e_1_3_2_1_36_1","unstructured":"LLVM. 2022. LLVM insturction. https:\/\/llvm.org\/docs\/LangRef.html."},{"key":"e_1_3_2_1_37_1","unstructured":"LLVM. 2022. LLVM Project. https:\/\/llvm.org\/"},{"key":"e_1_3_2_1_38_1","unstructured":"Aaron Luo. 2016. Drones hijacking - multi-dimensional attack vectors and countermeasures. DefCon 24."},{"key":"e_1_3_2_1_39_1","unstructured":"MAVLink. 2022. Mavlink. https:\/\/mavlink.io\/en\/"},{"volume-title":"SoK: Security and Privacy in the Age of Commercial Drones. In 2021 IEEE Symposium on Security and Privacy. 73\u201390","year":"2021","author":"Nassi B","key":"e_1_3_2_1_40_1","unstructured":"B Nassi, R Bitton, R Masuoka, A Shabtai, and Y Elovici. 2021. SoK: Security and Privacy in the Age of Commercial Drones. In 2021 IEEE Symposium on Security and Privacy. 73\u201390."},{"volume-title":"Proceedings of the 22nd USENIX Conference on Security Symposium.","year":"2013","author":"Noorman Job","key":"e_1_3_2_1_41_1","unstructured":"Job Noorman, Pieter Agten, Wilfried Daniels, Raoul Strackx, Anthony Van\u00a0Herrewege, Christophe Huygens, Bart Preneel, Ingrid Verbauwhede, and Frank Piessens. 2013. Sancus: Low-Cost Trustworthy Extensible Networked Devices with a Zero-Software Trusted Computing Base. In Proceedings of the 22nd USENIX Conference on Security Symposium."},{"key":"e_1_3_2_1_42_1","unstructured":"OP-TEE. 2022. Open portable trust execution environment. https:\/\/www.op-tee.org\/"},{"key":"e_1_3_2_1_43_1","unstructured":"PX4. 2022. PX4 Autopilot. https:\/\/px4.io"},{"key":"e_1_3_2_1_44_1","unstructured":"QGroundControl. 2019. QGroundControl. http:\/\/qgroundcontrol.com\/"},{"volume-title":"SAVIOR: Securing Autonomous Vehicles with Robust Physical Invariants. In 29th USENIX Security Symposium (USENIX Security 20)","year":"2020","author":"Quinonez Raul","key":"e_1_3_2_1_45_1","unstructured":"Raul Quinonez, Jairo Giraldo, Luis Salazar, Erick Bauman, Alvaro Cardenas, and Zhiqiang Lin. 2020. SAVIOR: Securing Autonomous Vehicles with Robust Physical Invariants. In 29th USENIX Security Symposium (USENIX Security 20). 895\u2013912."},{"key":"e_1_3_2_1_46_1","doi-asserted-by":"publisher","DOI":"10.1145\/199448.199462"},{"key":"e_1_3_2_1_47_1","doi-asserted-by":"publisher","DOI":"10.14722\/ndss.2022.23071"},{"volume-title":"An Experimental Study of GPS Spoofing and Takeover Attacks on UAVs. 31st USENIX Security Symposium (USENIX Security 22)","year":"2022","author":"Sathaye Harshad","key":"e_1_3_2_1_48_1","unstructured":"Harshad Sathaye, Martin Strohmeier, Vincent Lenders, and Aanjhan Ranganathan. 2022. An Experimental Study of GPS Spoofing and Takeover Attacks on UAVs. 31st USENIX Security Symposium (USENIX Security 22)."},{"volume-title":"Rocking Drones with Intentional Sound Noise on Gyroscopic Sensors. In 24th USENIX Security Symposium (USENIX Security 15)","year":"2015","author":"Son Yunmok","key":"e_1_3_2_1_49_1","unstructured":"Yunmok Son, Hocheol Shin, Dongkwan Kim, Youngseok Park, Juhwan Noh, Kibum Choi, Jungwoo Choi, and Yongdae Kim. 2015. Rocking Drones with Intentional Sound Noise on Gyroscopic Sensors. In 24th USENIX Security Symposium (USENIX Security 15). 881\u2013896."},{"key":"e_1_3_2_1_50_1","doi-asserted-by":"publisher","DOI":"10.5555\/2831143.2831199"},{"key":"e_1_3_2_1_51_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.ifacol.2016.10.412"},{"key":"e_1_3_2_1_52_1","doi-asserted-by":"publisher","DOI":"10.1145\/2892208.2892235"},{"volume-title":"WALNUT: Waging Doubt on the Integrity of MEMS Accelerometers with Acoustic Injection Attacks. In 2017 IEEE European Symposium on Security and Privacy (EuroS&P). 3\u201318","year":"2017","author":"Trippel Timothy","key":"e_1_3_2_1_53_1","unstructured":"Timothy Trippel, Ofir Weisse, Wenyuan Xu, Peter Honeyman, and Kevin Fu. 2017. WALNUT: Waging Doubt on the Integrity of MEMS Accelerometers with Acoustic Injection Attacks. In 2017 IEEE European Symposium on Security and Privacy (EuroS&P). 3\u201318."},{"key":"e_1_3_2_1_54_1","doi-asserted-by":"publisher","DOI":"10.1145\/2976749.2978388"},{"key":"e_1_3_2_1_55_1","doi-asserted-by":"publisher","DOI":"10.1145\/3055004.3055010"},{"volume-title":"All Your GPS Are Belong To Us: Towards Stealthy Manipulation of Road Navigation Systems. In 27th USENIX Security Symposium (USENIX Security 18)","year":"2018","author":"Liu Shinan","key":"e_1_3_2_1_56_1","unstructured":"Kexiong\u00a0(Curtis) Zeng, Shinan Liu, Yuanchao Shu, Dong Wang, Haoyu Li, Yanzhi Dou, Gang Wang, and Yaling Yang. 2018. All Your GPS Are Belong To Us: Towards Stealthy Manipulation of Road Navigation Systems. In 27th USENIX Security Symposium (USENIX Security 18)."},{"key":"e_1_3_2_1_57_1","doi-asserted-by":"publisher","DOI":"10.1109\/RTSS49844.2020.00028"}],"event":{"name":"RAID 2023: The 26th International Symposium on Research in Attacks, Intrusions and Defenses","acronym":"RAID 2023","location":"Hong Kong China"},"container-title":["Proceedings of the 26th International Symposium on Research in Attacks, Intrusions and Defenses"],"original-title":[],"link":[{"URL":"https:\/\/dl.acm.org\/doi\/pdf\/10.1145\/3607199.3607221","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2024,10,16]],"date-time":"2024-10-16T10:37:16Z","timestamp":1729075036000},"score":1,"resource":{"primary":{"URL":"https:\/\/dl.acm.org\/doi\/10.1145\/3607199.3607221"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2023,10,16]]},"references-count":57,"alternative-id":["10.1145\/3607199.3607221","10.1145\/3607199"],"URL":"https:\/\/doi.org\/10.1145\/3607199.3607221","relation":{},"subject":[],"published":{"date-parts":[[2023,10,16]]},"assertion":[{"value":"2023-10-16","order":3,"name":"published","label":"Published","group":{"name":"publication_history","label":"Publication History"}}]}}