# Address Behaviour Vulnerabilities in the Next Generation of Autonomous Robots

arXiv: https://arxiv.org/abs/2103.13268 · HTML: https://mlsanity.com/paper/2103.13268/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 11 of its 79 references that are in the map.
- First posted on arXiv 24 Mar 2021.

## Builds on (most cited first, 11 of 11)

- [The Malicious Use of Artificial Intelligence: Forecasting, Prevention, and Mitigation](https://mlsanity.com/paper/1802.07228/) (2018)
- [Behavior Trees in Robotics and AI: An Introduction](https://mlsanity.com/paper/1709.00084/) (2017)
- [Machine Teaching for Inverse Reinforcement Learning: Algorithms and Applications](https://mlsanity.com/paper/1805.07687/) (2018)
- [Risk-Averse Planning Under Uncertainty](https://mlsanity.com/paper/1909.12499/) (2019)
- [Formal Specification and Verification of Autonomous Robotic Systems: A Survey](https://mlsanity.com/paper/1807.00048/) (2018)
- [A Survey of Challenges for Runtime Verification from Advanced Application Domains (Beyond Software)](https://mlsanity.com/paper/1811.06740/) (2018)
- [Evaluating Methods for End-User Creation of Robot Task Plans](https://mlsanity.com/paper/1811.02690/) (2018)
- [A Summary of Formal Specification and Verification of Autonomous Robotic Systems](https://mlsanity.com/paper/1911.11597/) (2019)
- [Act, Perceive, and Plan in Belief Space for Robot Localization](https://mlsanity.com/paper/2002.08124/) (2020)
- [A Survey of Runtime Monitoring Instrumentation Techniques](https://mlsanity.com/paper/1708.07229/) (2017)
- [Open Problems in Robotic Anomaly Detection](https://mlsanity.com/paper/1809.03565/) (2018)

## Abstract (arXiv)

Robots applications in our daily life increase at an unprecedented pace. As robots will soon operate "out in the wild", we must identify the safety and security vulnerabilities they will face. Robotics researchers and manufacturers focus their attention on new, cheaper, and more reliable applications. Still, they often disregard the operability in adversarial environments where a trusted or untrusted user can jeopardize or even alter the robot's task. In this paper, we identify a new paradigm of security threats in the next generation of robots. These threats fall beyond the known hardware or network-based ones, and we must find new solutions to address them. These new threats include malicious use of the robot's privileged access, tampering with the robot sensors system, and tricking the robot's deliberation into harmful behaviors. We provide a taxonomy of attacks that exploit these vulnerabilities with realistic examples, and we outline effective countermeasures to prevent better, detect, and mitigate them.