Comprehensive Guide to Home Robot Security: From System Analysis to Solution Recommendation

Figure 1.

Figure 2.

Figure 3.

Applications of Home Robots

Applications and Sub-applications			References
Social Robot			[6, 7, 8, 9]
Companion Robot			[10]
Care	Elderly Care Robot	General	[6, 10, 11, 12, 13, 14, 15]
		Fall Detection	[11, 16]
	Single Care		[17]
	Child Care Robot	General	[13]
		Telepresence	[18]
	Personal Care		[19]
Cooking			[6, 20]
Entertainment	General		[16]
	Music Player		[6]
	Social Media Access		[13]
Health Care	Drug Reminder		[16]
	Drug and Food Estimation		[21]
	Medication Reminders		[6, 22]
	Monitor Health		[22]
Cleaning and Organization	General		[6, 23]
	Clean Floors		[22]
	Vacuuming		[20]
	Self-making Bed		[20]
	Automatic Bookshelf or Cupboard		[20]
Find and Bring Objects	General		[16, 22, 23]
	Bring Coffee		[20]
Cloth	Folds Laundry		[20]
	Garment Folding		[20]
	Dressing		[22]
Lawn Mower			[20]
Movable Trash Bins			[20]
Home Security	Monitoring of Houses		[13, 24, 25]
Smart Home Assistant			[26, 27]
Rollator Walker			[28]
Transfer			[22]

Overview of Security Issues and Classifications for CPS

Issues		Classification and General Descriptions	References
General Issues		Differences with ICT security, CPS security challenges, and requirements	[56, 57, 58, 59, 63]
Main Issues	Vulnerabilities	Classification Based on the cyber and physical components	[55]
	Threats	Classification based on architecture layers	[57]
		Classification Based on the Abstract Threats as attack vectors	[56]
		Classification Based on cyber and physical components	[55]
	Attacks	Classification Based on architectural layers	[58, 59]
		Classification Based on the type and function of the attack	[56]
		Classification Based on cyber and physical components	[55]
	Mechanisms	Classification Based on the type of attack	[56]
		Classification Based on cyber and physical components	[57]
		Classification Based on architectural layers	[59, 62]
		Some mechanisms without classification	[55, 56, 58]

Architecture considerations of home robots

Architecture Consideration		References
	Cloud	[28]
Infrastructure	Mobile phone	[27]
	Home Personal Computer (PC)	[28, 7]
System	Smart home	[27, 29, 30]
	Robot group	[23]
	Autonomous	[18]
Operation modes	Remote controller (monitor, command execution)	[7]
	Interactive	[18]
Device behavior	Proactive, reactive	[10]
Device appearance	Creature, object	[10]
Device function	Assistive, companion, service	[10]
Device mobility	Mobile, stationary	[10]
Separable device		[31]
Infrastructural services	Object recognition (detection)	[21, 12],
	Remote control	[31]
	Obstacle avoidance	[31]
	Tracking (follow user, come to the user)	[31]
	Power metering	[31]
	Assistance decision maker	[12]
	Positioning and navigation, map construct	[12] [19, 16],
	Grasping	[12]
	User interface	[12, 20]
	Robots collaboration management	[20]
	Face and gesture recognition	[20, 19, 16]
	Simultaneous Localization and Mapping (SLAM)	[19]
	Planning	[19]
	Text to speech	[16]
	Speech recognition (robot call)	[16]
	Robot setup	[16]
	Self-charge	[16]
	Image and video transfer and automatic video recording	[28]
	Distance estimation	[28]
Software service design	Representational State Transfer (REST) as a platform independent protocol	[32]
Sensor	Laser, noise, light	[12]
Robot and human interaction	Verbal, non-verbal	[20]
Design goals	Engaging, unobtrusive, device-like, respectful, reassuring	[26]

Security Issues of Home Robots

Security Considerations			References
Main Issues	Attacks	Denial of Service (DoS)	[13]
		Analyzing packet capture	[13]
	Threats	Privacy violation (especially for social interactions with robots) for some goals (location, object, information)	[13, 33]
		Active and passive eavesdropping	[13]
		Network security breach	[13]
		Robot vandalism	[13]
		Spying	[13]
	Vulnerabilities	Interface application	[7]
		Remote execution of code	[8]
		Status Check	[8]
		Allocation of a static Internet Protocol (IP) Address	[13]
		Availability of open ports	[13]
		Unsupervised data exchange	[13]
		Internet connection	[13]
		Webcam	[13]
	Mechanisms	Authentication	[8]
		Two-factor authentication	[13]
		Biometrics as a second factor in authentication	[13]
		The privacy-utility tradeoff for remotely teleoperated robots that decrease image quality when sending it	[33]
		Situational awareness	[19]
General Issues	Principles	Privacy	[14, 20, 34, 35, 36]
		Ethical implications: Assisting elderly or disabled people, monitoring of houses, accessing social media, childcare	[13, 34]
		Trust	[34]
		Safety: The home robot faces more uncertainty in the environment than the industrial robot, posing more safety concerns.	[15, 37]
Architecture Issues	Security issues are primarily discussed in the network layer.		[7]

Overview of Security Issues and Classifications for Smart Home

Issues		Classification	References
General Issues		The Internet of Things(IoT) challenges	[65]
Main Issues	Vulnerability	Software flaws	[68]
	Attacks	Classification based on security principles violated by the attack	[65]
		Classification based on architectural layers	[64, 66]
		Classification based on security principles violated by the attack	[66]
		Classification based on the activity of the attack over time	[66]
		Security in collaboration systems (cloud)	[66]
		Classification based on the connected object	[66]
		Classification based on attack target asset	[64, 66]
	Mechanisms	Classification based on the activity of the attack over time and the type of attack in the cloud architecture	[64, 70]
		Classification based on architectural layers	[66]
		Classification based on the gateway architecture and its layers	[67]
		Without classification	[68, 69]

Overview of Security Issues and Classifications for Robots

Issue		Classification or General Description	References
General issues		Privacy issues	[38, 39]
		Safety issues	[40, 41, 50]
		Architecture layers	[49]
		AI usage	[51]
		ROS Middleware	[49, 50]
Main issues	Vulnerabilities	Comparison of two home robots (Rovio and Spykee)-50	[48, 50]
	Threats	Classification based on Degree of risk	[45]
	Attacks	Classification based on Assets that are the target of an attack	[43]
		Classification based on the motives of the attackers	[43]
		Without classification	[46, 47, 48]
	Mechanisms	Classification based on the type of attack and the time that we apply the mechanism	[44]
		Risk analysis	[46]
		Classification based on the type of assets	[43, 47]
		Without classification	[48]