Runtime System Support for CPS Software Rejuvenation
Raffaele Romagnoli, Bruce H. Krogh, Dionisio de Niz, Anton Dimov Hristozov, Bruno Sinopoli · IEEE Transactions on Emerging Topics in Computing · 2023
Software rejuvenation, which was originally introduced to deal with performance degradation due to software aging, has recently been proposed as a mechanism to provide protection against run-time cyber attacks in cyber-physical systems (CPSs). Experiments have demonstrated that CPSs can be protected from attacks that corrupt run-time code and data by periodically restoring the run-time system with an uncorrupted image. Control theoretic and empirical methods have been developed to determine the timing and mode-switching conditions for CPS software rejuvenation (CPS SR) that will guarantee system safety. This article presents the requirements that need to be met by the run-time system to support CPS SR. It also presents an implementation and demonstration of the run-time system for the PX4 autopilot system for autonomous vehicles.