Difference between revisions of "Benchmark dataset for analysis of cyber-attacks to an indoor real time localization system for autonomous robots"

Latest revision as of 10:07, 9 March 2022

SciCrunch! reference: Real time localization system for autonomous robots Benchmark Dataset, RRID:SCR_015756.

This data report summarizes a benchmark dataset which can be used to analyze cyber-attacks to an indoor real time localization system for autonomous robots. Data have been gathered in an indoor mock-up apartment, shown in Fig 2 , located at the Robotics Lab of the University of León (Spain). An autonomous robot, called Karen and shown in Fig 1, with an on-board Real Time Location System (RTLS) was used to gather the data.

Further information can be found at: Guerrero-Higueras, Á. M., DeCastro-García, N., Rodríguez-Lera, F. J., & Matellán, V. (2017). Empirical analysis of cyber-attacks to an indoor real time localization system for autonomous robots. Computers & Security, 70, 422-435.

Materials

Data gathered by Karen robot include:

• Karen location estimates provided by a commercial RTLS, called KIO.

Additional information about Karen and the devices/packages used to get data is given below.

Karen robot

Fig. 1 shows the autonomous robot Karen, used in the experiments. Karen is a mobile manipulator built by the Robotics Group of the Universidad de León (Spain). It has two arms with 7 degrees of freedom, 3 fingers each, and a mobile base. The control of the robot is based on the Robot Operating System (ROS) framework.

Fig. 1: Karen and KIO RTLS: a beacon (1), and tag on the robot (2).

KIO RTLS

KIO RTLS commercial solution by Eliko has been used to provide people location at the study area. Fig 1 shows a KIO beacon (1), and a KIO tag on the robot (2).

Recording procedure

Three different distributions of the KIO beacons were defined. Fig. 2 presents the experimental area map and shows the location of the beacons for the three cases. The red dots show the placement of the six beacons for Distribution #1, blue dots show the placement of the six beacons for Distribution #2, and green dots show the placement of the six beacons for Distribution #3. 12 checkpoints were determined in the experimental area. Karen was placed in all of them and the location estimates gathered by the tag were recorded for later analysis. Checkpoint locations are shown as black rounded numbered points in Fig. 2. There are nine checkpoints inside the mock up apartment to obtain location estimates in all rooms. Three other checkpoints are in the corridor for obtaining location estimates outside the mock up apartment.

cyber-attacks were performed on the beacons of KIO RTLS used by Karen robot in order to estimate its location. Two types of attacks were performed. The first one (A1i) simulated three DoS attacks, by interfering with the signal emitted by beacons 411A, 501C, and 408A, thus making it impossible for the tag to obtain distances from them. The DoS attack on beacon 411A is labeled A1a, the one on 501C, A1b, and the one on 501C, A1c. The second type of attack (A2j) carried out four Spoofing attacks, changing the signal emitted by beacons 411A and 501C introducing either a fixed and a variable error, making the tag to calculate a wrong location. Spoofing attacks over the beacon 411A with either a fixed and variable error are labelled A2a and A2b respectively. The ones over 501C with either a fixed and variable error are labelled A2c and A2d respectively.

Data

Differents versions of the dataset are enumerated below.

v1.0

Distribution 1 (96 files)

1. kio-point-01-moving411a_2016-07-14-10-55-04.bag
2. kio-point-01-moving411a-Randomly_2016-07-14-10-54-11.bag
3. kio-point-01-moving501c-Randomly_2016-07-14-10-53-13.bag
4. kio-point-01-moving501c_2016-07-14-10-51-35.bag
5. kio-point-01-without408a_2016-07-14-10-49-27.bag
6. kio-point-01-without411a_2016-07-14-10-47-06.bag
7. kio-point-01-without501c_2016-07-14-10-48-24.bag
8. kio-point-01_2016-07-14-10-44-29.bag
9. kio-point-02-moving411a-Randomly_2016-07-14-10-57-46.bag
10. kio-point-02-moving411a_2016-07-14-10-56-38.bag
11. kio-point-02-moving501c-Randomly_2016-07-14-11-01-47.bag
12. kio-point-02-moving501c_2016-07-14-11-02-40.bag
13. kio-point-02-without408a_2016-07-14-11-12-24.bag
14. kio-point-02-without411a_2016-07-14-10-59-11.bag
15. kio-point-02-without501c_2016-07-14-11-00-28.bag
16. kio-point-02_2016-07-14-11-35-29.bag
17. kio-point-03-moving411a-Randomly_2016-07-14-11-06-22.bag
18. kio-point-03-moving411a_2016-07-14-11-07-16.bag
19. kio-point-03-moving501c-Randomly_2016-07-14-11-05-01.bag
20. kio-point-03-moving501c_2016-07-14-11-04-02.bag
21. kio-point-03-without408a_2016-07-14-11-11-06.bag
22. kio-point-03-without411a_2016-07-14-11-08-26.bag
23. kio-point-03-without501c_2016-07-14-11-09-43.bag
24. kio-point-03_2016-07-14-11-34-42.bag
25. kio-point-04-moving411a-Randomly_2016-07-14-11-21-07.bag
26. kio-point-04-moving411a_2016-07-14-11-21-58.bag
27. kio-point-04-moving501c-Randomly_2016-07-14-11-20-03.bag
28. kio-point-04-moving501c_2016-07-14-11-18-59.bag
29. kio-point-04-without408a_2016-07-14-11-14-10.bag
30. kio-point-04-without411a_2016-07-14-11-16-19.bag
31. kio-point-04-without501c_2016-07-14-11-17-37.bag
32. kio-point-04_2016-07-14-11-33-58.bag
33. kio-point-05-moving411a-Randomly_2016-07-14-11-25-33.bag
34. kio-point-05-moving411a_2016-07-14-11-24-33.bag
35. kio-point-05-moving501c-Randomly_2016-07-14-11-26-34.bag
36. kio-point-05-moving501c_2016-07-14-11-27-26.bag
37. kio-point-05-without408a_2016-07-14-11-31-19.bag
38. kio-point-05-without411a_2016-07-14-11-29-41.bag
39. kio-point-05-without501c_2016-07-14-11-28-32.bag
40. kio-point-05_2016-07-14-11-33-11.bag
41. kio-point-06-moving411a-Randomly_2016-07-14-11-44-06.bag
42. kio-point-06-moving411a_2016-07-14-11-44-59.bag
43. kio-point-06-moving501c-Randomly_2016-07-14-11-43-01.bag
44. kio-point-06-moving501c_2016-07-14-11-42-04.bag
45. kio-point-06-without408a_2016-07-14-11-39-19.bag
46. kio-point-06-without411a_2016-07-14-11-37-58.bag
47. kio-point-06-without501c_2016-07-14-11-40-49.bag
48. kio-point-06_2016-07-14-11-36-58.bag
49. kio-point-07-moving411a-Randomly_2016-07-15-10-27-02.bag
50. kio-point-07-moving411a_2016-07-15-10-24-57.bag
51. kio-point-07-moving501c-Randomly_2016-07-15-10-28-10.bag
52. kio-point-07-moving501c_2016-07-15-10-29-01.bag
53. kio-point-07-without408a_2016-07-15-10-22-45.bag
54. kio-point-07-without411A_2016-07-15-10-17-59.bag
55. kio-point-07-without501c_2016-07-15-10-20-27.bag
56. kio-point-07_2016-07-15-10-16-24.bag
57. kio-point-08-moving411a-Randomly_2016-07-15-10-52-00.bag
58. kio-point-08-moving411a_2016-07-15-10-51-18.bag
59. kio-point-08-moving501c-Randomly_2016-07-15-10-43-31.bag
60. kio-point-08-moving501c_2016-07-15-10-44-19.bag
61. kio-point-08-without408a_2016-07-15-10-49-32.bag
62. kio-point-08-without411a_2016-07-15-10-48-21.bag
63. kio-point-08-without501c_2016-07-15-10-46-32.bag
64. kio-point-08_2016-07-15-10-41-05.bag
65. kio-point-09-moving411a-Randomly_2016-07-15-10-32-43.bag
66. kio-point-09-moving411a_2016-07-15-10-33-32.bag
67. kio-point-09-moving501c-Randomly_2016-07-15-10-31-50.bag
68. kio-point-09-moving501c_2016-07-15-10-30-26.bag
69. kio-point-09-without408a_2016-07-15-10-38-23.bag
70. kio-point-09-without411a_2016-07-15-10-35-35.bag
71. kio-point-09-without501c_2016-07-15-10-36-50.bag
72. kio-point-09_2016-07-15-10-39-52.bag
73. kio-point-10-moving411a-Randomly_2016-07-15-12-26-12.bag
74. kio-point-10-moving411a_2016-07-15-12-24-51.bag
75. kio-point-10-moving501c-Randomly_2016-07-15-12-28-02.bag
76. kio-point-10-moving501c_2016-07-15-12-23-10.bag
77. kio-point-10-without408a_2016-07-15-12-21-13.bag
78. kio-point-10-without411a_2016-07-15-12-19-02.bag
79. kio-point-10-without501c_2016-07-15-12-20-12.bag
80. kio-point-10_2016-07-15-12-22-26.bag
81. kio-point-11-moving411a-Randomly_2016-07-15-13-05-05.bag
82. kio-point-11-moving411a_2016-07-15-13-04-04.bag
83. kio-point-11-moving501c-Randomly_2016-07-15-13-06-01.bag
84. kio-point-11-moving501c_2016-07-15-13-06-54.bag
85. kio-point-11-without408a_2016-07-15-13-00-25.bag
86. kio-point-11-without411a_2016-07-15-13-01-37.bag
87. kio-point-11-without501c_2016-07-15-13-02-47.bag
88. kio-point-11_2016-07-15-12-59-31.bag
89. kio-point-12-moving411a-Randomly_2016-07-15-11-44-32.bag
90. kio-point-12-moving411a_2016-07-15-11-43-14.bag
91. kio-point-12-moving501c-Randomly_2016-07-15-11-41-26.bag
92. kio-point-12-moving501c_2016-07-15-11-42-20.bag
93. kio-point-12-without408a_2016-07-15-11-47-52.bag
94. kio-point-12-without411a_2016-07-15-11-49-04.bag
95. kio-point-12-without501c_2016-07-15-11-46-48.bag
96. kio-point-12_2016-07-15-11-45-52.bag

Distribution 2 (96 files)

1. kio-point-01-moving411a-Ramdomly_2016-09-09-13-04-48.bag
2. kio-point-01-moving411a_2016-09-09-13-03-44.bag
3. kio-point-01-moving501c-Ramdomly_2016-09-09-13-00-15.bag
4. kio-point-01-moving501c_2016-09-09-12-59-21.bag
5. kio-point-01-without408a_2016-09-09-12-53-22.bag
6. kio-point-01-without411a_2016-09-09-12-49-51.bag
7. kio-point-01-without501c_2016-09-09-12-52-24.bag
8. kio-point-01_2016-09-09-12-48-25.bag
9. kio-point-02-moving411a-Ramdomly_2016-09-09-13-17-28.bag
10. kio-point-02-moving411a_2016-09-09-13-16-42.bag
11. kio-point-02-moving501c-Ramdomly_2016-09-09-13-19-56.bag
12. kio-point-02-moving501c_2016-09-09-13-19-15.bag
13. kio-point-02-without408a_2016-09-09-13-11-32.bag
14. kio-point-02-without411a_2016-09-09-13-13-11.bag
15. kio-point-02-without501c_2016-09-09-13-14-30.bag
16. kio-point-02_2016-09-09-13-09-51.bag
17. kio-point-03-moving411a-Ramdomly_2016-09-09-13-31-12.bag
18. kio-point-03-moving411a_2016-09-09-13-30-26.bag
19. kio-point-03-moving501c-Ramdomly_2016-09-09-13-34-14.bag
20. kio-point-03-moving501c_2016-09-09-13-33-34.bag
21. kio-point-03-without408a_2016-09-09-13-25-57.bag
22. kio-point-03-without411a_2016-09-09-13-27-42.bag
23. kio-point-03-without501c_2016-09-09-13-28-57.bag
24. kio-point-03_2016-09-09-13-23-01.bag
25. kio-point-04-moving411a-Ramdomly_2016-09-09-13-54-38.bag
26. kio-point-04-moving411a_2016-09-09-13-53-58.bag
27. kio-point-04-moving501c-Ramdomly_2016-09-09-13-57-17.bag
28. kio-point-04-moving501c_2016-09-09-13-56-27.bag
29. kio-point-04-without408a_2016-09-09-13-43-24.bag
30. kio-point-04-without411a_2016-09-09-13-46-23.bag
31. kio-point-04-without501c_2016-09-09-13-47-56.bag
32. kio-point-04_2016-09-09-13-36-56.bag
33. kio-point-05-moving411a-Ramdomly_2016-09-12-12-05-51.bag
34. kio-point-05-moving411a_2016-09-12-12-05-17.bag
35. kio-point-05-moving501c-Ramdomly_2016-09-12-12-08-29.bag
36. kio-point-05-moving501c_2016-09-12-12-07-30.bag
37. kio-point-05-without408a_2016-09-12-11-56-20.bag
38. kio-point-05-without411a_2016-09-12-11-58-20.bag
39. kio-point-05-without501c_2016-09-12-11-59-38.bag
40. kio-point-05_2016-09-12-11-54-32.bag
41. kio-point-06-moving411a-Ramdomly_2016-09-12-12-18-40.bag
42. kio-point-06-moving411a_2016-09-12-12-17-56.bag
43. kio-point-06-moving501c-Ramdomly_2016-09-12-12-20-43.bag
44. kio-point-06-moving501c_2016-09-12-12-19-57.bag
45. kio-point-06-without408a_2016-09-12-12-13-01.bag
46. kio-point-06-without411a_2016-09-12-12-14-14.bag
47. kio-point-06-without501c_2016-09-12-12-15-34.bag
48. kio-point-06_2016-09-12-12-11-14.bag
49. kio-point-07-moving411a-Ramdomly_2016-09-12-12-34-34.bag
50. kio-point-07-moving411a_2016-09-12-12-33-52.bag
51. kio-point-07-moving501c-Ramdomly_2016-09-12-12-38-30.bag
52. kio-point-07-moving501c_2016-09-12-12-36-06.bag
53. kio-point-07-without408a_2016-09-12-12-24-19.bag
54. kio-point-07-without411a_2016-09-12-12-25-55.bag
55. kio-point-07-without501c_2016-09-12-12-32-07.bag
56. kio-point-07_2016-09-12-12-22-33.bag
57. kio-point-08-moving411a-Ramdomly_2016-09-12-12-46-40.bag
58. kio-point-08-moving411a_2016-09-12-12-45-58.bag
59. kio-point-08-moving501c-Ramdomly_2016-09-12-12-48-51.bag
60. kio-point-08-moving501c_2016-09-12-12-47-54.bag
61. kio-point-08-without408a_2016-09-12-12-42-02.bag
62. kio-point-08-without411a_2016-09-12-12-43-31.bag
63. kio-point-08-without501c_2016-09-12-12-44-41.bag
64. kio-point-08_2016-09-12-12-40-38.bag
65. kio-point-09-moving411a-Ramdomly_2016-09-12-12-59-31.bag
66. kio-point-09-moving411a_2016-09-12-12-56-12.bag
67. kio-point-09-moving501c-Ramdomly_2016-09-12-13-02-13.bag
68. kio-point-09-moving501c_2016-09-12-13-01-28.bag
69. kio-point-09-without408a_2016-09-12-12-52-20.bag
70. kio-point-09-without411a_2016-09-12-12-53-37.bag
71. kio-point-09-without501c_2016-09-12-12-54-48.bag
72. kio-point-09_2016-09-12-12-50-52.bag
73. kio-point-10-moving411a-Randomly_2016-09-12-17-13-05.bag
74. kio-point-10-moving411a_2016-09-12-17-12-24.bag
75. kio-point-10-moving501c-Ramdomly_2016-09-12-17-15-02.bag
76. kio-point-10-moving501c_2016-09-12-17-14-18.bag
77. kio-point-10-without408a_2016-09-12-17-08-20.bag
78. kio-point-10-without411a_2016-09-12-17-09-47.bag
79. kio-point-10-without501c_2016-09-12-17-10-52.bag
80. kio-point-10_2016-09-12-17-07-10.bag
81. kio-point-11-moving411a-Ramdomly_2016-09-12-17-24-25.bag
82. kio-point-11-moving411a_2016-09-12-17-23-47.bag
83. kio-point-11-moving501c-Ramdomly_2016-09-12-17-26-08.bag
84. kio-point-11-moving501c_2016-09-12-17-25-30.bag
85. kio-point-11-without408a_2016-09-12-17-18-28.bag
86. kio-point-11-without411a_2016-09-12-17-20-56.bag
87. kio-point-11-without501c_2016-09-12-17-22-12.bag
88. kio-point-11_2016-09-12-17-17-16.bag
89. kio-point-12-moving411a-Ramdomly_2016-09-12-17-34-49.bag
90. kio-point-12-moving411a_2016-09-12-17-34-09.bag
91. kio-point-12-moving501c-Ramdomly_2016-09-12-17-36-45.bag
92. kio-point-12-moving501c_2016-09-12-17-36-04.bag
93. kio-point-12-without408a_2016-09-12-17-29-02.bag
94. kio-point-12-without411a_2016-09-12-17-30-32.bag
95. kio-point-12-without501c_2016-09-12-17-32-21.bag
96. kio-point-12_2016-09-12-17-27-51.bag

Distribution 3 (96 files)

1. kio-point-01-moving411a-Ramdomly_2016-09-15-14-22-20.bag
2. kio-point-01-moving411a_2016-09-15-14-21-36.bag
3. kio-point-01-moving501c-Ramdomly_2016-09-15-14-24-32.bag
4. kio-point-01-moving501c_2016-09-15-14-23-41.bag
5. kio-point-01-without408a_2016-09-15-14-17-30.bag
6. kio-point-01-without411a_2016-09-15-14-18-50.bag
7. kio-point-01-without501c_2016-09-15-14-19-57.bag
8. kio-point-01_2016-09-15-14-16-31.bag
9. kio-point-02-moving411a-Ramdomly_2016-09-15-14-34-24.bag
10. kio-point-02-moving411a_2016-09-15-14-32-43.bag
11. kio-point-02-moving501c-Ramdomly_2016-09-15-14-36-20.bag
12. kio-point-02-moving501c_2016-09-15-14-35-43.bag
13. kio-point-02-without408a_2016-09-15-14-27-20.bag
14. kio-point-02-without411a_2016-09-15-14-28-39.bag
15. kio-point-02-without501c_2016-09-15-14-29-44.bag
16. kio-point-02_2016-09-15-14-26-02.bag
17. kio-point-03-moving411a-Ramdomly_2016-09-16-09-41-26.bag
18. kio-point-03-moving411a_2016-09-16-09-40-39.bag
19. kio-point-03-moving501c-Ramdomly_2016-09-16-09-44-42.bag
20. kio-point-03-moving501c_2016-09-16-09-43-41.bag
21. kio-point-03-without408a_2016-09-16-09-35-55.bag
22. kio-point-03-without411a_2016-09-16-09-38-20.bag
23. kio-point-03-without501c_2016-09-16-09-39-22.bag
24. kio-point-03_2016-09-16-09-34-45.bag
25. kio-point-04-moving411a-Ramdomly_2016-09-16-09-52-40.bag
26. kio-point-04-moving411a_2016-09-16-09-51-45.bag
27. kio-point-04-moving501c-Ramdomly_2016-09-16-09-55-21.bag
28. kio-point-04-moving501c_2016-09-16-09-54-22.bag
29. kio-point-04-without408a_2016-09-16-09-47-30.bag
30. kio-point-04-without411a_2016-09-16-09-48-55.bag
31. kio-point-04-without501c_2016-09-16-09-50-09.bag
32. kio-point-04_2016-09-16-09-45-57.bag
33. kio-point-05-moving411a-Ramdomly_2016-09-16-10-03-02.bag
34. kio-point-05-moving411a_2016-09-16-10-02-20.bag
35. kio-point-05-moving501c-Ramdomly_2016-09-16-10-05-25.bag
36. kio-point-05-moving501c_2016-09-16-10-04-37.bag
37. kio-point-05-without408a_2016-09-16-09-57-36.bag
38. kio-point-05-without411a_2016-09-16-09-59-16.bag
39. kio-point-05-without501c_2016-09-16-10-00-26.bag
40. kio-point-05_2016-09-16-09-56-33.bag
41. kio-point-06-moving411a-Ramdomly_2016-09-16-10-14-00.bag
42. kio-point-06-moving411a_2016-09-16-10-13-12.bag
43. kio-point-06-moving501c-Ramdomly_2016-09-16-10-16-20.bag
44. kio-point-06-moving501c_2016-09-16-10-15-27.bag
45. kio-point-06-without408a_2016-09-16-10-07-53.bag
46. kio-point-06-without411a_2016-09-16-10-09-10.bag
47. kio-point-06-without501c_2016-09-16-10-11-24.bag
48. kio-point-06_2016-09-16-10-06-44.bag
49. kio-point-07-moving411a-Ramdomly_2016-09-16-10-30-01.bag
50. kio-point-07-moving411a_2016-09-16-10-28-06.bag
51. kio-point-07-moving501c-Ramdomly_2016-09-16-10-32-20.bag
52. kio-point-07-moving501c_2016-09-16-10-31-40.bag
53. kio-point-07-without408a_2016-09-16-10-21-38.bag
54. kio-point-07-without411a_2016-09-16-10-22-50.bag
55. kio-point-07-without501c_2016-09-16-10-23-57.bag
56. kio-point-07_2016-09-16-10-20-09.bag
57. kio-point-08-moving411a-Ramdomly_2016-09-16-12-46-34.bag
58. kio-point-08-moving411a_2016-09-16-12-45-51.bag
59. kio-point-08-moving501c-Ramdomly_2016-09-16-12-48-49.bag
60. kio-point-08-moving501c_2016-09-16-12-48-03.bag
61. kio-point-08-without408a_2016-09-16-12-42-05.bag
62. kio-point-08-without411a_2016-09-16-12-43-23.bag
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