Robotic Vehicles (RVs) have gained great popularity over the past few years. Meanwhile, they are also demonstrated to be vulnerable to sensor spoofing attacks. Although a wealth of research works have presented various attacks, some key questions remain unanswered: are these existing works complete enough to cover all the sensor spoofing threats? If not, how many attacks are not explored, and how difficult is it to realize them? This paper answers the above questions by comprehensively systematizing the knowledge of sensor spoofing attacks against RVs. Our contributions are threefold. (1) We identify seven common attack paths in an RV system pipeline. We categorize and assess existing spoofing attacks from the perspectives of spoofer property, operation, victim characteristic and attack goal. Based on this systematization, we identify 4 interesting insights about spoofing attack designs. (2) We propose a novel action flow model to systematically describe robotic function executions and sensor spoofing vulnerabilities. With this model, we successfully discover 104 spoofing attack vectors, 25 of which have been verified by prior works, while 55 attacks are practical but never considered. (3) We design two novel attack methodologies to verify the feasibility of newly discovered spoofing attack vectors.

翻译：过去几年来,机器人(RV)受到极大欢迎。 同时,我们的贡献是三重的。 (1) 我们从一个RV系统管道中找出了七条常见攻击路径。 我们从螺旋形财产、操作、受害者特征和攻击目标的角度对现有的攻击进行分类和评估。 基于这一系统化,我们找出关于潜伏攻击设计的4种有趣的见解。 (2) 我们提出一个新的行动流动模式,系统描述机器人功能处决和传感器弱点。我们用这个模式成功地发现了104种攻击矢量,其中25种已经经过先前工程核实,55种攻击是实际的,但从未考虑过。 (3) 我们设计了两种新的矢量攻击方法,以核实新发现的矢量攻击的可行性。