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Title:Abstractions and security concepts for a robot operating system
Author(s):Finnicum, Murph
Advisor(s):King, Samuel T.
Department / Program:Computer Science
Discipline:Computer Science
Degree Granting Institution:University of Illinois at Urbana-Champaign
Degree:M.S.
Genre:Thesis
Subject(s):Robot Operating System
Robot Applications
Abstract:As general purpose robots begin to find their way into the household and workplace, there will be a demand for software to run on these robots. My research group forsees the proliferation of robot apps that use a common set of abstractions to allow them to function on a variety of hardware platforms. In this thesis, I introduce a robot operating system to support these apps and detail the abstractions that it provides. I present many lessons learned from developing and debugging a number of such apps, and discuss a novel concept wherein apps and libraries are allowed to seek help from outside sources when they are unable to accomplish their goals. I show that our framework allows a robot to effectivly deal with challenges, such as user authentication. I demonstrate a simple bartender app to fetch drink orders for students, and it is succesfully able to deliver them in 10/10 trials in real- world conditions. I also present CLASS, a new system capable of identifying users robustly. I propose a framework for integrating a wide range of sensor values into an algorithm for identifying users, even if an attacker actively tries to impersonate a user. Our system is evaluated by using our reference robot and this platform to build a robot application that buys coffee at our local coffee shop for a user, without requiring explicit authentication. I evaluate CLASS under an adversarial model experimentally and find it to be robust and resilient to attack.
Issue Date:2013-08-22
URI:http://hdl.handle.net/2142/45567
Rights Information:Copyright 2013 Murph Richard Matthew Finnicum
Date Available in IDEALS:2013-08-22
2015-08-22
Date Deposited:2013-08


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