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Remotely controlled mobile robots are important examples of Cyber-PhysicalSystems (CPSs). Recently, these robots are being deployed in many safetycritical applications. Therefore, ensuring their cyber-security is of paramountimportance. Different control schemes that have been proposed to secure suchsystems against sophisticated cyber-attacks require the exchange of secretmessages between their smart actuators and the remote controller. Thus, theseschemes require pre-shared secret keys, or an established Public KeyInfrastructure (PKI) that allows for key agreement. Such cryptographicapproaches might not always be suitable for the deployment environments of suchremotely mobile robots. To address this problem, in this paper, we consider acontrol theoretic approach for establishing a secret key between the remotelycontrolled robot and the networked controller without resorting to traditionalcryptographic techniques. Our key agreement scheme leverages a nonlinearunknown input observer and an error correction code mechanism to allow therobot to securely agree on a secret key with its remote controller. To validatethe proposed scheme, we implement it using a Khepera-IV differential driverobot and evaluate its efficiency and the additional control cost acquired byit. Our experimental results confirm the effectiveness of the proposed keyestablishment scheme.

An Observer-Based Key Agreement Scheme for Remotely Controlled Mobile Robots