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This paper demonstrates the fundamental vulnerability of networked linear control systems to perfectly undetectable false data injection attacks (FDIAs) based on affine transformations. The work formulates a generalized FDIA framework that coordinates multiplicative and additive data injections targeting both control commands and observables in networked systems. The paper derives mathematical conditions for executing affine transformation based perfectly undetectable attacks (ATPAs) on state-feedback and output-feedback control systems, with attack capabilities varying based on the attacker’s knowledge of plant dynamics and control gains. The paper examines several attack scenarios, including scaling and general affine transformations, and characterizes the range of system knowledge—from minimum to full—required for different attack types. The paper classifies ATPA into four types based on the feedback structure (state or output) and knowledge requirements: those that match plant dynamics without controller knowledge and those that match closed-loop dynamics by exploiting controller information. The paper examines several attack scenarios and shows how carefully ATPAs can create the illusion of normal system operation while the actual system behavior deviates significantly from intended trajectories.
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This content will become publicly available on May 19, 2026
Perfectly Undetectable False Data Injection Attacks on Encrypted Bilateral Teleoperation System based on Dynamic Symmetry and Malleability
This paper investigates the vulnerability of bilat-eral teleoperation systems to perfectly undetectable False Data Injection Attacks (FDIAs). Teleoperation, one of the major applications in robotics, involves a leader manipulator operated by a human and a follower manipulator at a remote site, connected via a communication channel. While this setup en-ables operation in challenging environments, it also introduces cybersecurity risks, particularly in the communication link. The paper focuses on a specific class of cyberattacks: perfectly un-detectable FDIAs, where attackers alter signals without leaving detectable traces at all. Compared to previous research on linear and first-order nonlinear systems, this paper examines bilateral teleoperation systems with second-order nonlinear manipulator dynamics. The paper derives mathematical conditions based on Lie Group theory that enable such attacks, demonstrating how an attacker can modify the follower manipulator's motion while the operator perceives normal operation through the leader device. This vulnerability challenges conventional detection methods based on observable changes and highlights the need for advanced security measures in teleoperation systems. To validate the theoretical results, the paper presents experimental demonstrations using a teleoperation system connecting robots in the US and Japan.
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- Award ID(s):
- 2112793
- PAR ID:
- 10653725
- Publisher / Repository:
- 2025 IEEE International Conference on Robotics and Automation (ICRA)
- Date Published:
- Format(s):
- Medium: X
- Location:
- Atlanta, GA
- Sponsoring Org:
- National Science Foundation
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