Evaluation of Peer Robot Communications using CryptoROS

摘要

The demand of cloud robotics makes data encryp-tion essential for peer robot communications. Certain types of data such as odometry, action controller and perception data need to be secured to prevent attacks. However, the introduction of data encryption caused increment of overhead for data stream communication. This paper presents an evaluation of CryptoROS architecture on Robot Operating System (ROS) which focused on peer-to-peer conversations between nodes with confidentiality and integrity violation. OpenSSL is used to create a private key and generate a Certificate Signing Request (CSR) that contains public key and a signature. The CSR is submitted to a Certificate Authority (CA) to chain the root CA certificate and encryption of RSA private key with AES-256 and a passphrase. The protected private key are securely backed up, transported, and stored. Experiments were carried out multiple times with and without the proposed protocol intervention to assess the performance impact of the Manager. The results for different number of messages transmitted each time increased from 100, 250 to 500 with performance impact 1.7%, 0.5% and 0.2%, respectively. It is concluded that CryptoROS capable of protecting messages and service requests from unauthorized intentional alteration with authenticity verification in all components.