Sensors are crucial for autonomous operation in robotic vehicles (RV). Unfortunately, RV sensors can be compromised by physical attacks such as tampering or spoofing, leading to a crash. In this paper, we present DeLorean, a modelfree recovery framework for recovering autonomous RVs from sensor deception attacks (SDA). DeLorean is designed to recover RVs even from a strong SDA in which the adversary targets multiple heterogeneous sensors simultaneously (even all the sensors). Under SDAs, DeLorean inspects the attack induced errors, identifies the targeted sensors, and prevents the erroneous sensor inputs from being used to derive actuator signals. DeLorean then replays historic state information in the RV's feedback control loop for a temporary mitigation and recovers the RV from SDA. Our evaluation on four real and two simulated RVs shows that DeLorean can recover RVs from SDAs, and ensure mission success in 90.7% of the cases on average.

翻译：传感器对于机器车辆（RV）的自主运行至关重要。然而，RV传感器可能因物理攻击（如篡改或欺骗）而受损，导致车辆失控。本文提出DeLorean——一种无模型恢复框架，用于从传感器欺骗攻击（SDA）中恢复自主RV。DeLorean旨在抵御强SDA（包括攻击者同时针对多个异构传感器甚至所有传感器的情况）。在SDA下，DeLorean检测攻击引发的误差，识别被攻击的传感器，并阻止错误传感器输入用于生成执行器信号。随后，DeLorean通过回放RV反馈控制回路中的历史状态信息实现临时缓解，并最终从SDA中恢复RV。我们在四种真实RV和两种仿真RV上的评估表明，DeLorean能够从SDA中恢复RV，并在平均90.7%的情况下确保任务成功。