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In this paper, we propose a framework called Contego-TEE to secureInternet-of-Things (IoT) edge devices with timing requirements from controlspoofing attacks where an adversary sends malicious control signals to theactuators. We use a trusted computing base available in commodity processors(such as ARM TrustZone) and propose an invariant checking mechanism to ensurethe security and safety of the physical system. A working prototype ofContego-TEE was developed using embedded Linux kernel. We demonstrate thefeasibility of our approach for a robotic vehicle running on an ARM-basedplatform.

Protecting Actuators in Safety-Critical IoT Systems from Control Spoofing Attacks