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The Unmanned aerial vehicles (UAVs) sector is fast-expanding. Protection ofreal-time UAV applications against malicious attacks has become an urgentproblem that needs to be solved. Denial-of-service (DoS) attack aims to exhaustsystem resources and cause important tasks to miss deadlines. DoS attack may beone of the common problems of UAV systems, due to its simple implementation. Inthis paper, we present a software framework that offers DoS attack-resilientcontrol for real-time UAV systems using containers: ContainerDrone. Theframework provides defense mechanisms for three critical system resources: CPU,memory, and communication channel. We restrict attacker's access to CPU coreset and utilization. Memory bandwidth throttling limits attacker's memoryusage. By simulating sensors and drivers in the container, a security monitorconstantly checks DoS attacks over communication channels. Upon the detectionof a security rule violation, the framework switches to the safety controllerto mitigate the attack. We implemented a prototype quadcopter with commerciallyoff-the-shelf (COTS) hardware and open-source software. Our experimentalresults demonstrated the effectiveness of the proposed framework defendingagainst various DoS attacks.

A Container-based DoS Attack-Resilient Control Framework for Real-Time UAV Systems