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Because robots can directly perceive and affect the physical world, securityissues take on particular importance. In this paper, we describe the results ofour work on scanning the entire IPv4 address space of the Internet forinstances of the Robot Operating System (ROS), a widely used robotics platformfor research. Our results identified that a number of hosts supporting ROS areexposed to the public Internet, thereby allowing anyone to access roboticsensors and actuators. As a proof of concept, and with consent, we were able toread image sensor information and move the robot of a research group in a USuniversity. This paper gives an overview of our findings, including thegeographic distribution of publicly-accessible platforms, the sorts of sensorand actuator data that is available, as well as the different kinds of robotsand sensors that our scan uncovered. Additionally, we offer recommendations onbest practices to mitigate these security issues in the future.

Scanning the Internet for ROS: A View of Security in Robotics Research