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

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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.


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 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

Fig. 2: Robotics mobile lab plane. Red dots indicate beacons for Distribution #1, blue dots for Distribution #2 and green dots for Distribution #3. Black rounded numbered dots indicate checkpoints.


Differents versions of the dataset are enumerated below.


Distribution 1

Distribution 2

Distribution 3