Description

We demonstrate requiem on real drone hardware evaluated on the following missions: Linear and Hold. The following scenarios are considered:

• Normal - A mission without any attacks
• Requiem: No Correction - an attack that prevents the control from correcting north position value by injecting values to the mocap (i.e., Vicon) north position value while making the north position value seem nominal.
• Baseline: Position Boiling Frog - slowly increase the value injected into mocap north position value at the rate of 1m/min (e.g., after 30 seconds of this attack, the magnitude of the injection is 0.5m )

Specifications

Hardware

• CubePilot Orange+
  • ARM Cortex M7 (Dual Core) 400MHz
  • 1MB of RAM
  • PX4 Autopilot v1.15.4
• DJI F450 quadrotor frame
• Four 780kv motor
• Vicon Valkyrie

Demonstrations

Linear

After the takeoff, the vehicle moves to (1m, 0m), (1m, 1m) then back to (0m, 0m) from the starting point in east-north coordinate. A right isosceles traingle with 1m sides is taped on to the floor for visual reference.

Normal

The drone moves along the triangle as expected.

Requiem: No Correction

The result is reflective of the simulation experiment: Requiem causes the most deviation during the northward movement by causing the control to unable to notice that the vehicle overshot while remaining stealthy.

Baseline: Position Boiling Frog

Similar to the simulation result, PBF did not cause much deviation.

Hold

Normal

Requiem: No Correction

Baseline: Position Boiling Frog

Circle

Normal

Due to space constraints of the flying arena and safety considerations, we only evaluate attacks for linear and hold mission in hardware; circular movements are difficult to execute safely as it is challenging to predict whether the quadrotor will collide with the net.