{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,7]],"date-time":"2026-03-07T18:29:51Z","timestamp":1772908191746,"version":"3.50.1"},"reference-count":54,"publisher":"IEEE","license":[{"start":{"date-parts":[[2025,5,19]],"date-time":"2025-05-19T00:00:00Z","timestamp":1747612800000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-029"},{"start":{"date-parts":[[2025,5,19]],"date-time":"2025-05-19T00:00:00Z","timestamp":1747612800000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-037"}],"funder":[{"DOI":"10.13039\/100000001","name":"National Science Foundation","doi-asserted-by":"publisher","award":["CNS-2140346,CNS-2317830,CNS-2338837"],"award-info":[{"award-number":["CNS-2140346,CNS-2317830,CNS-2338837"]}],"id":[{"id":"10.13039\/100000001","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2025,5,19]]},"DOI":"10.1109\/icra55743.2025.11127490","type":"proceedings-article","created":{"date-parts":[[2025,9,2]],"date-time":"2025-09-02T17:28:56Z","timestamp":1756834136000},"page":"16441-16448","source":"Crossref","is-referenced-by-count":2,"title":["Investigating Security Threats in Multi-Tenant ROS 2 Systems"],"prefix":"10.1109","author":[{"given":"Lichen","family":"Xia","sequence":"first","affiliation":[{"name":"University of Delaware,Department of Computer and Information Sciences,Newark,DE,USA,19716"}]},{"given":"Xing","family":"Gao","sequence":"additional","affiliation":[{"name":"University of Delaware,Department of Computer and Information Sciences,Newark,DE,USA,19716"}]},{"given":"Weisong","family":"Shi","sequence":"additional","affiliation":[{"name":"University of Delaware,Department of Computer and Information Sciences,Newark,DE,USA,19716"}]}],"member":"263","reference":[{"key":"ref1","volume-title":"The Rise of ROS: Nearly 55% of Total Commercial Robots Shipped in 2024 Will Have at Least One Robot Operating System Package Installed","year":"2019"},{"key":"ref2","doi-asserted-by":"crossref","first-page":"8514","DOI":"10.1109\/ICRA.2019.8794451","article-title":"Scanning the Internet for ROS: A View of Security in Robotics Research","volume-title":"2019 International Conference on Robotics and Automation (ICRA)","author":"DeMarinis","year":"2019"},{"key":"ref3","doi-asserted-by":"crossref","first-page":"1","DOI":"10.1109\/LARS\/SBR\/WRE51543.2020.9307107","article-title":"Security on ROS: Analyzing and Exploiting Vulnerabilities of ROS-Based Systems","volume-title":"2020 Latin American Robotics Symposium (LARS), 2020 Brazilian Symposium on Robotics (SBR) and 2020 Workshop on Robotics in Education (WRE)","author":"Teixeira","year":"2020"},{"key":"ref4","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.abm6074"},{"key":"ref5","article-title":"iRobot: Robot Vacuums and Mops","volume-title":"iRobot Corporation","year":"2024"},{"key":"ref6","article-title":"ROBOTIS Official Website","volume-title":"ROBOTIS","year":"2024"},{"key":"ref7","volume-title":"AWS RoboMaker","year":"2024"},{"key":"ref8","volume-title":"ROS 2 Multi-Robot Book","author":"Robotics","year":"2024"},{"key":"ref9","article-title":"SwarmUS: An open hardware and software on-board platform for swarm robotics development","author":"Villemure","year":"2022","journal-title":"arXiv preprint"},{"issue":"3.2","key":"ref10","first-page":"5","article-title":"ROS: an open-source Robot Operating System","volume-title":"ICRA Workshop on Open Source Software","volume":"3","author":"Quigley","year":"2009"},{"key":"ref11","volume-title":"ROS Community Metrics Report","author":"Foote","year":"2023"},{"key":"ref12","article-title":"robots.ros.org","volume-title":"ROS Community","year":"2023"},{"key":"ref13","volume-title":"DDS Foundation","year":"2024"},{"key":"ref14","doi-asserted-by":"crossref","first-page":"1","DOI":"10.1109\/SYSCON.2019.8836824","article-title":"Cyber Security Assessment of the Robot Operating System 2 for Aerial Networks","volume-title":"2019 IEEE International Systems Conference (SysCon)","author":"Sandoval","year":"2019"},{"key":"ref15","volume-title":"PX4 Autopilot","year":"2024"},{"key":"ref16","volume-title":"ROS Industrial","author":"Industrial Consortium","year":"2024"},{"key":"ref17","doi-asserted-by":"crossref","first-page":"11 253","DOI":"10.1109\/IROS47612.2022.9982129","article-title":"SROS2: Securing ROS 2 Over DDS","volume-title":"2022 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS)","author":"Mayoral-Vilches","year":"2022"},{"key":"ref18","doi-asserted-by":"crossref","DOI":"10.17487\/rfc2560","article-title":"X. 509 Internet public key infrastructure online certificate status protocol-OCSP","volume-title":"Tech. Rep.","author":"Myers","year":"1999"},{"key":"ref19","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.abm6074"},{"key":"ref20","article-title":"rclcpp - ROS 2 C++ Client Library Documentation","volume-title":"Open Robotics","year":"2022"},{"key":"ref21","doi-asserted-by":"publisher","DOI":"10.1145\/2382196.2382223"},{"key":"ref22","doi-asserted-by":"publisher","DOI":"10.14722\/ndss.2014.23328"},{"key":"ref23","volume-title":"ROS Humble Hawksbill Documentation","author":"Robotics","year":"2024"},{"key":"ref24","article-title":"ROS Noetic Ninjemys","volume-title":"ROS.org","year":"2024"},{"key":"ref25","article-title":"ROS 2 Rolling Ridley Documentation","volume-title":"Open Robotics","year":"2024"},{"key":"ref26","article-title":"eProsima Fast DDS","volume-title":"eProsima","year":"2024"},{"key":"ref27","article-title":"Open-RMF\/RMF_DEMOS: Demonstrations of the openrmf software","volume-title":"GitHub"},{"key":"ref28","doi-asserted-by":"publisher","DOI":"10.1109\/MM.2015.133"},{"key":"ref29","volume-title":"Example 2: Run the bridge and exchange images in ros1bridge","author":"Developers","year":"2024"},{"key":"ref30","article-title":"Using ROS 2 Launch for Large Projects: Loading Parameters from a YAML File","volume-title":"ROS 2 Documentation Contributors","year":"2023"},{"key":"ref31","doi-asserted-by":"publisher","DOI":"10.1117\/12.2016189"},{"key":"ref32","doi-asserted-by":"publisher","DOI":"10.1145\/3029798.3038437"},{"key":"ref33","doi-asserted-by":"crossref","first-page":"192","DOI":"10.1016\/j.robot.2017.09.017","article-title":"Security for the Robot Operating System","volume":"98","author":"Dieber","year":"2017","journal-title":"Robotics and Autonomous Systems"},{"key":"ref34","doi-asserted-by":"crossref","first-page":"415","DOI":"10.1109\/IRC.2019.00077","article-title":"ROSploit: Cybersecurity Tool for ROS","volume-title":"2019 Third IEEE International Conference on Robotic Computing (IRC)","author":"Rivera","year":"2019"},{"key":"ref35","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-030-20190-6_8"},{"key":"ref36","doi-asserted-by":"crossref","first-page":"7249","DOI":"10.1109\/IROS45743.2020.9341085","article-title":"Verification of System-Wide Safety Properties of ROS Applications","volume-title":"2020 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS)","author":"Carvalho","year":"2020"},{"key":"ref37","doi-asserted-by":"crossref","first-page":"1","DOI":"10.1109\/TePRA.2014.6869141","article-title":"Message Authentication Codes for Secure Remote Non-Native Client Connections to ROS Enabled Robots","volume-title":"2014 IEEE International Conference on Technologies for Practical Robot Applications (TePRA)","author":"Toris","year":"2014"},{"key":"ref38","doi-asserted-by":"crossref","first-page":"4477","DOI":"10.1109\/IROS.2016.7759659","article-title":"ApplicationLevel Security for ROS-Based Applications","volume-title":"2016 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS)","author":"Dieber","year":"2016"},{"key":"ref39","article-title":"SROS: Securing ROS Over the Wire, in the Graph, and Through the Kernel","volume-title":"arXiv preprint","author":"White","year":"2016"},{"key":"ref40","article-title":"Cybersecurity in Autonomous Systems: Evaluating the Performance of Hardening ROS","volume":"47","author":"Lera","year":"2016","journal-title":"M\u00e1laga"},{"key":"ref41","doi-asserted-by":"crossref","first-page":"608","DOI":"10.1109\/SII.2019.8700390","article-title":"A Novel Solution for Securing Robot Communications Based on the MQTT Protocol and ROS","volume-title":"2019 IEEE\/SICE International Symposium on System Integration (SII)","author":"Mukhandi","year":"2019"},{"key":"ref42","article-title":"Security and Performance Considerations in ROS 2: A Balancing Act","volume-title":"arXiv preprint","author":"Kim","year":"2018"},{"key":"ref43","doi-asserted-by":"crossref","first-page":"1","DOI":"10.1109\/MEMCOD.2018.8556970","article-title":"Formal Analysis and Verification of DDS in ROS2","volume-title":"2018 16th ACM\/IEEE International Conference on Formal Methods and Models for System Design (MEMOCODE)","author":"Liu","year":"2018"},{"key":"ref44","doi-asserted-by":"publisher","DOI":"10.1145\/3573910.3573912"},{"key":"ref45","doi-asserted-by":"publisher","DOI":"10.3390\/electronics13091762"},{"key":"ref46","doi-asserted-by":"publisher","DOI":"10.1109\/ICARA51699.2021.9376468"},{"key":"ref47","doi-asserted-by":"publisher","DOI":"10.1177\/1729881418770011"},{"key":"ref48","article-title":"Credential masquerading and openssl spy: Exploring ros 2 using dds security","author":"DiLuoffo","year":"2019","journal-title":"arXiv preprint"},{"key":"ref49","doi-asserted-by":"publisher","DOI":"10.1145\/3548606.3560681"},{"key":"ref50","first-page":"2379","article-title":"FIRMSCOPE: Automatic uncovering of Privilege-Escalation vulnerabilities in Pre-Installed apps in android firmware","volume-title":"29th USENIX Security Symposium (USENIX Security 20)","author":"S","year":"2020"},{"key":"ref51","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-642-18178-8_30"},{"key":"ref52","doi-asserted-by":"publisher","DOI":"10.1109\/SP40001.2021.00070"},{"key":"ref53","doi-asserted-by":"publisher","DOI":"10.1145\/2660267.2660337"},{"key":"ref54","doi-asserted-by":"publisher","DOI":"10.1145\/3433210.3453076"}],"event":{"name":"2025 IEEE International Conference on Robotics and Automation (ICRA)","location":"Atlanta, GA, USA","start":{"date-parts":[[2025,5,19]]},"end":{"date-parts":[[2025,5,23]]}},"container-title":["2025 IEEE International Conference on Robotics and Automation (ICRA)"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx8\/11127273\/11127223\/11127490.pdf?arnumber=11127490","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,9,3]],"date-time":"2025-09-03T06:45:35Z","timestamp":1756881935000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/11127490\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2025,5,19]]},"references-count":54,"URL":"https:\/\/doi.org\/10.1109\/icra55743.2025.11127490","relation":{},"subject":[],"published":{"date-parts":[[2025,5,19]]}}}