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Safety in autonomous systems has been mostly studied from a human-centeredperspective. Besides the loads they may carry, autonomous systems are alsovaluable property, and self-preservation mechanisms are needed to protect themin the presence of external threats, including malicious robots andantagonistic humans. We present a biologically inspired risk-based triggeringmechanism to initiate self-preservation strategies. This mechanism considersenvironmental and internal system factors to measure the overall risk at anymoment in time, to decide whether behaviours such as fleeing or hiding arenecessary, or whether the system should continue on its task. We integrated ourrisk-based triggering mechanism into a delivery rover that is being attacked bya drone and evaluated its effectiveness through systematic testing in asimulated environment in Robot Operating System (ROS) and Gazebo, with avariety of different randomly generated conditions. We compared the use of thetriggering mechanism and different configurations of self-preservationbehaviours to not having any of these. Our results show that triggeringself-preservation increases the distance between the drone and the rover formany of these configurations, and, in some instances, the drone does not catchup with the rover. Our study demonstrates the benefits of embedding riskawareness and self-preservation into autonomous systems to increase theirrobustness, and the value of using bio-inspired engineering to find solutionsin this area.

Risk-based Triggering of Bio-inspired Self-Preservation to Protect Robots from Threats