Reading List

CPS-related papers from the premier security and software engineering conferences.

I am collecting the recent related papers for those who are interested in CPS security in various topics.
I hope this list helps for reference.

Robotic Vehicle CPS Security

Attacks / Vulnerabilities

• ICSE 2021, Understanding Bounding Functions in Safety-Critical UAV Software
  Xiaozhou Liang; John Henry Burns; Joseph Sanchez; Karthik Dantu; Lukasz Ziarek; Yu David Liu
• USENIX SEC 2020, Stealthy Tracking of Autonomous Vehicles with Cache Side Channels
  Mulong Luo, Andrew C. Myers, and G. Edward Suh (Cornell University)
• ACSAC 2019, Out of control: stealthy attacks against robotic vehicles protected by control-based techniques
  Pritam Dash, Mehdi Karimibiuki, Karthik Pattabiraman (University of British Columbia)
• USENIX SEC 2018, Injected and delivered: Fabricating implicit control over actuation systems by spoofing inertial sensors
  Yazhou Tu (University of Louisiana at Lafayette), Zhiqiang Lin (Ohio State University), Insup Lee (University of Pennsylvania), Xiali Hei (University of Louisiana at Lafayette)
• USENIX SEC 2018, All Your GPS Are Belong To Us: Towards Stealthy Manipulation of Road Navigation Systems
  Kexiong (Curtis) Zeng, Virginia Tech; Shinan Liu, University of Electronic Science and Technology of China; Yuanchao Shu, Microsoft Research; Dong Wang, Haoyu Li, Yanzhi Dou, Gang Wang, and Yaling Yang, Virginia Tech
• USENIX SEC 2015, Rocking Drones with Intentional Sound Noise on Gyroscopic Sensors
  Yunmok Son, Hocheol Shin, Dongkwan Kim, Youngseok Park, Juhwan Noh, Kibum Choi, Jungwoo Choi, and Yongdae Kim, Korea Advanced Institute of Science and Technology (KAIST)
• EuroS&P 2017, WALNUT: Waging Doubt on the Integrity of MEMS Accelerometers with Acoustic Injection Attacks
  Timothy Trippel ; Ofir Weisse ; Wenyuan Xu ; Peter Honeyman ; Kevin Fu

Countermeasures

• RAID 2020, Software-based Realtime Recovery from Sensor Attacks on Robotic Vehicles
  Hongjun Choi, Sayali Kate, Yousra Affer, Xinagyu Zhang, Dongyan Xu, Purdue University
  
• USENIX SEC 2020, From Control Model to Program: Investigating Robotic Aerial Vehicle Accidents with MAYDAY
  Taegyu Kim, Purdue University; Chung Hwan Kim, University of Texas at Dallas; Altay Ozen, Fan Fei, Zhan Tu, Xiangyu Zhang, Xinyan Deng, Dave (Jing) Tian, and Dongyan Xu, Purdue University
• USENIX SEC 2020, SAVIOR: Securing Autonomous Vehicles with Robust Physical Invariants
  Raul Quinonez (University of Texas at Dallas), Jairo Giraldo (University of Utah) Luis Salazar (University of California, Santa Cruz) Erick Bauman (University of Texas at Dallas), Alvaro Cardenas (University of California, Santa Cruz), Zhiqiang Lin (Ohio State University)
• ICCPS 2018, Cyber-Physical System Checkpointing and Recovery
  Fanxin Kong, Meng Xu, James Weimer, Oleg Sokolsky, Insup Lee (University of Pennsylvania)
• CCS 2018, Detecting Attacks Against Robotic Vehicles: A Control Invariant Approach
  Hongjun Choi, Wen-Chuan Lee, Yousra Aafer, Fan Fei, Zhan Tu, Xiangyu Zhang, Dongyan Xu, Xinyan Deng (Purdue University)
• DSN 2018, RoboADS: Anomaly Detection against Sensor and Actuator Misbehaviors in Mobile Robots
  Pinyao Guo, Hunmin Kim, Nurali Virani, Jun Xu, Minghui Zhu, Peng Liu (Pennsylvania State Univ)
• ACSAC 2017, Orpheus: Enforcing Cyber-Physical Execution Semantics to Defend Against Data-Oriented Attacks
  Long Cheng, Ke Tian, Danfeng (Daphne) Yao (Virginia Tech)
• ICCPS 2017, VirtualDrone: virtual sensing, actuation, and communication for attack-resilient unmanned aerial systems
  Man-Ki Yoon ; Bo Liu ; Naira Hovakimyan ; Lui Sha (University of Illinois at Urbana-Champaign)

Testing

• NDSS 2021, PGFUZZ: Policy-Guided Fuzzing for Robotic Vehicles
  Hyungsub Kim (Purdue University), Muslum Ozgur Ozmen (Purdue University), Antonio Bianchi (Purdue University), Z. Berkay Celik (Purdue University), Dongyan Xu (Purdue University)
• CCS 2020, Cyber-Physical Inconsistency Vulnerability Identification for Safety Checks in Robotic Vehicles
  Hongjun Choi, Sayali Kate, Yousra Aafer, Xiangyu Zhang, Dongyan Xu (Purdue University)
• ICSE 2019, A System Identification based Oracle for Control-CPS Software Fault Localization
  Zhijian He (The Hong Kong Polytechnic University), Yao Chen, Enyan Huang (The Hong Kong Polytechnic University), Qixin Wang (The Hong Kong Polytechnic University), Yu Pei (The Hong Kong Polytechnic University), Haidong Yuan (The Chinese University of Hong Kong)
• FSE 2018, Phys: probabilistic physical unit assignment and inconsistency detection
  Sayali Kate (Purdue University), John-Paul Ore (University of Nebraska-Lincoln), Xiangyu Zhang (Purdue University), Sebastian Elbaum (University of Nebraska-Lincoln), Zhaogui Xu (Nanjing University)
• ISSTA 2017, Lightweight detection of physical unit inconsistencies without program annotations
  John-Paul Ore, Carrick Detweiler, Sebastian Elbaum (University of Nebraska-Lincoln)

Privacy

• S&P 2019, Drones' Cryptanalysis - Smashing Cryptography with a Flicker
  Ben Nassi, Raz Ben-Netanel, Adi Shamir, Yuval Elovici, Ben-Gurion University of the Negev

Autonomous Driving

• USENEX SEC 2021, Dirty Road Can Attack: Security of Deep Learning based Automated Lane Centering under Physical-World Attack
  Takami Sato, Junjie Shen, and Ningfei Wang, University of California, Irvine; Yunhan Jia, ByteDance; Xue Lin, Northeastern University; Qi Alfred Chen, University of California, Irvine
• USENEX SEC 2021, Too Good to Be Safe: Tricking Lane Detection in Autonomous Driving with Crafted Perturbations
  Pengfei Jing, The Hong Kong Polytechnic University and Keen Security Lab, Tencent; Qiyi Tang and Yuefeng Du, Keen Security Lab, Tencent; Lei Xue and Xiapu Luo, The Hong Kong Polytechnic University; Ting Wang, Pennsylvania State University; Sen Nie and Shi Wu, Keen Security Lab, Tencent
• IEEE S&P 2021, Poltergeist: Acoustic Adversarial Machine Learning against Cameras and Computer Vision
  Xiaoyu Ji (Zhejiang University), Yushi Cheng (Zhejiang University), Yuepeng Zhang (Zhejiang University), Kai Wang (Zhejiang University), Chen Yan (Zhejiang University), Kevin Fu (University of Michigan), Wenyuan Xu (Zhejiang University)
• IEEE S&P 2021, Invisible for both Camera and LiDAR: Security of Multi-Sensor Fusion based Perception in Autonomous Driving Under Physical-World Attacks
  Yulong Cao* (University of Michigan), Ningfei Wang* (University of California, Irvine), Chaowei Xiao* (NVIDIA Research and Arizona State University), Dawei Yang* (University of Michigan), Jin Fang (Baidu Research and National Engineering Laboratory of Deep Learning Technology and Application, China), Ruigang Yang (Inceptio), Qi Alfred Chen (University of California, Irvine), Mingyan Liu (University of Michigan), Bo Li (University of Illinois at Urbana-Champaign), (*co-first authors)
• ICSE 2020, DeepBillboard: Systematic Physical-World Testing of Autonomous Driving Systems
  Husheng Zhou; Wei Li; Zelun Kong; Junfeng Guo; Yuqun Zhang; Bei Yu; Lingming Zhang; Cong Liu, The University of Texas at Dallas, Dallas
• CCS 2020, Phantom of the ADAS: Securing Advanced Driver-Assistance Systems from Split-Second Phantom Attacks
  Ben Nassi, Yisroel Mirsky, Dudi Nassi, Raz Ben-Netanel, Oleg Drokin, Yuval Elovici (Ben-Gurion University of the Negev)
• USENIX SEC 2020, Drift with Devil: Security of Multi-Sensor Fusion based Localization in High-Level Autonomous Driving under GPS Spoofing
  Junjie Shen, Jun Yeon Won, Zeyuan Chen, and Qi Alfred Chen, University of California, Irvine
• USENIX SEC 2020, Towards Robust LiDAR-based Perception in Autonomous Driving: General Black-box Adversarial Sensor Attack and Countermeasures
  Jiachen Sun and Yulong Cao, University of Michigan; Qi Alfred Chen, UC Irvine; Z. Morley Mao, University of Michigan
• CCS 2019, Adversarial Sensor Attack on LiDAR-based Perception in Autonomous Driving
  Yulong Cao (University of Michigan),Chaowei Xiao (University of Michigan),Benjamin Cyr (University of Michigan),Yimeng Zhou (University of Michigan),Won Park (University of Michigan),Sara Rampazzi (University of Michigan),Qi Alfred Chen (University of California, Irvine),Kevin Fu (University of Michigan),Z. Morley Mao (University of Michigan)
• ICSE 2018, DeepTest: automated testing of deep-neural-network-driven autonomous cars
  Yuchi Tian (University of Virginia), Suman Jana (Columbia University), Kexin Pei (Columbia University), Baishakhi Ray (University of Virginia)
• ASE 2018 DeepGauge: multi-granularity testing criteria for deep learning systems
  Lei Ma, Felix Juefei-Xu, Fuyuan Zhang, Jiyuan Sun, Minhui Xue, Bo Li, Chunyang Chen , Ting Su , Li Li , Yang Liu , Jianjun Zhao , and Yadong Wang (Nanyang Technological University, Singapore)
• FSE 2018 DLFuzz: differential fuzzing testing of deep learning systems
  Jianmin Guo, Yu Jiang, Yue Zhao, Quan Chen, Jiaguang Sun (Tsinghua University)
• ASE 2018, DeepRoad: GAN-based metamorphic testing and input validation framework for autonomous driving systems
  Mengshi Zhang ; Yuqun Zhang ; Lingming Zhang ; Cong Liu ; Sarfraz Khurshid (University of Texas at Austin)
• SOSP 2017, DeepXplore: automated whitebox testing of deep learning systems
  Kexin Pei, Yinzhi Cao, Junfeng Yang, Suman Jana (Columbia University)

Industral Control System, etc.

• NDSS 2020, DefRec: Establishing Physical Function Virtualization to Disrupt Reconnaissance of Power Grids' Cyber-Physical Infrastructures
  Hui Lin (University of Nevada, Reno), Jianing Zhuang (University of Nevada, Reno), Yih-Chun Hu (University of Illinois, Urbana-Champaign), Huayu Zhou (University of Nevada, Reno)
• CCS 2019, Trick or Heat? Manipulating Critical Temperature-Based Control Systems using Rectification attacks Yazhou Tu (University of Louisiana at Lafayette),Sara Rampazzi (University of Michigan),Bin Hao (University of Louisiana at Lafayette),Angel Rodriguez (University of Michigan),Kevin Fu (University of Michigan),Xiali Hei (University of Louisiana at Lafayette)
• IEEE S&P 2019, Towards Automated Safety Vetting of PLC Code in Real-World Plants
  Mu Zhang (Cornell University), Chien-Ying Chen (University of Illinois at Urbana-Champaign), Bin-Chou Kao (University of Illinois at Urbana-Champaign), Yassine Qamsane (University of Michigan), Yuru Shao (University of Michigan), Yikai Lin (University of Michigan), Elaine Shi (Cornell University), Sibin Mohan (University of Illinois at Urbana-Champaign), Kira Barton (University of Michigan), James Moyne (University of Michigan), Z. Morley Mao (University of Michigan)
• NDSS 2019, A Systematic Framework to Generate Invariants for Anomaly Detection in Industrial Control Systems
  Cheng Feng (Imperial College London & Siemens Corporate Technology), Venkata Reddy Palleti (Singapore University of Technology and Design), Aditya Mathur (Singapore University of Technology and Design), Deeph Chana (Imperial College London)
• RAID 2019, PAtt: Physics-based Attestation of Control Systems
  Hamid Reza Ghaeini (Singapore University of Technology and Design), Matthew Chan (Rutgers University), Raad Bahmani and Ferdinand Brasser (TU Darmstadt) Luis Garcia (University of California, Los Angeles), Jianying Zhou (Singapore University of Technology and Design) Ahmad-Reza Sadeghi (TU Darmstadt), Nils Ole Tippenhauer (CISPA, Helmholtz Center for Information Security), Saman Zonouz (Rutgers University)
• IEEE S&P 2018, Learning from Mutants: Using Code Mutation to Learn and Monitor Invariants of a Cyber-Physical System
  Yuqi Chen (Singapore University of Technology and Design), Christopher M. Poskitt (Singapore University of Technology and Design), Jun Sun (Singapore University of Technology and Design)
• NDSS 2017, Hey, My Malware Knows Physics! Attacking PLCs with Physical Model Aware Rootkit
  Luis Garcia, Ferdinand Brasser, Mehmet H. Cintuglu, Ahmad-Reza Sadeghi, Osama Mohammed, Saman A. Zonouz (Rutgers University)
• CCS 2016, Limiting the impact of stealthy attacks on Industrial Control Systems
  David I. Urbina, Jairo Giraldo, Alvaro A. Cardenas, Nils Ole Tippenhauer, Junia Valente, Mustafa Faisal, Justin Ruths, Richard Candell, and Henrik Sandberg (University of Texas at Dallas)

Automotive

• IEEE S&P 2021, CANnon: Reliable and Stealthy Remote Shutdown Attacks via Unaltered Automotive Microcontrollers
  Sekar Kulandaivel (Carnegie Mellon University), Shalabh Jain (Research and Technology Center, Robert Bosch LLC, USA), Jorge Guajardo (Research and Technology Center, Robert Bosch LLC, USA), Vyas Sekar (Carnegie Mellon University)
• USENIX SEC 2020, Plug-N-Pwned: Comprehensive Vulnerability Analysis of OBD-II Dongles as A New Over-the-Air Attack Surface in Automotive IoT
  Haohuang Wen, Ohio State University; Qi Alfred Chen, University of California, Irvine; Zhiqiang Lin, Ohio State University
• CCS 2019, LibreCAN: Automated CAN Message Translator Mert D. Pesé (University of Michigan, Ann Arbor),Troy Stacer (University of Michigan, Ann Arbor),C. Andrés Campos (University of Michigan, Ann Arbor),Eric Newberry (University of Michigan, Ann Arbor),Dongyao Chen (University of Michigan, Ann Arbor),Kang G. Shin (University of Michigan, Ann Arbor)
• CCS 2017, Viden: Attacker Identification on In-vehicle Networks
  Kyong-Tak Cho and Kang G. Shin (University of Michigan)
• USENIX SEC 2016, Fingerprinting Electronic Control Units for Vehicle Intrusion Detection
  Kyong-Tak Cho and Kang G. Shin, University of Michigan

System, Architecture

• USENIX SEC 2020, APEX: A Verified Architecture for Proofs of Execution on Remote Devices under Full Software Compromise
  Ivan De Oliveira Nunes, UC Irvine; Karim Eldefrawy, SRI International; Norrathep Rattanavipanon, UC Irvine and Prince of Songkla University; Gene Tsudik, UC Irvine
• NDSS 2018, Securing Real-Time Microcontroller Systems through Customized Memory View Switching
  Chung Hwan Kim (NEC Laboratories America), Taegyu Kim (Purdue University), Hongjun Choi (Purdue University), Zhongshu Gu (IBM T.J. Watson Research Center), Byoungyoung Lee (Purdue University), Xiangyu Zhang (Purdue University), and Dongyan Xu (Purdue University)

Surveys

• IEEE S&P 2021, SoK: Security and Privacy in the Age of Commercial Drones
• ICSE 2020, A Comprehensive Study of Autonomous Vehicle Bugs
• IEEE S&P 2020, SoK: A Minimalist Approach to Formalizing Analog Sensor Security
• ACM Computing Surveys 2018, A survey of physics-based attack detection in cyber-physical systems Jairo Giraldo, David Urbina, Alvaro Cardenas, Junia Valente, Mustafa Faisal, Justin Ruths, Nils Ole Tippenhauer, Henrik Sandberg, Richard Candell
• [Misc.] CCS 2018, Evaluating Fuzz Testing
  George Klees, Andrew Ruef, Benji Cooper, Shiyi Wei, Michael Hicks (University of Maryland)