False Data Injection Attacks in Bilateral Teleoperation Systems

In this brief, false data injection attacks in bilateral teleoperation systems (BTOSs) are studied, where the attacker can inject false data into the states being exchanged between the master and slave robots. To demonstrate the vulnerability of BTOS, a destabilizing false data injection attack (DFDIA) is designed and experimentally implemented. To detect any general false data injection attack, including DFDIA as a special case, a physics-based detection scheme with an encoding-decoding structure is proposed. The efficacy of the proposed attack detection scheme is demonstrated in experiments.