ロボット運動制御におけるサイバーフィジカル・ステガノグラフィ
Cyber-Physical Steganography in Robotic Motion Control
ロボットの環境変化への敏感さを利用し、環境刺激としてメッセージを運動軌跡に埋め込み・復元するステガノグラフィ手法を提案し、模擬環境のマニピュレーションタスクで実証した。
著者: Ching-Chun Chang, Yijie Lin, Isao Echizen
分類: cs.RO, cs.AI, cs.CR
原文アブストラクト
Steganography, the art of information hiding, has continually evolved across visual, auditory and linguistic domains, adapting to the ceaseless interplay between steganographic concealment and steganalytic revelation. This study seeks to extend the horizons of what constitutes a viable steganographic medium by introducing a steganographic paradigm in robotic motion control. Based on the observation of the robot's inherent sensitivity to changes in its environment, we propose a methodology to encode messages as environmental stimuli influencing the motions of the robotic agent and to decode messages from the resulting motion trajectory. The constraints of maximal robot integrity and minimal motion deviation are established as fundamental principles underlying secrecy. As a proof of concept, we conduct experiments in simulated environments across various manipulation tasks, incorporating robotic embodiments equipped with generalist multimodal policies.