Departmental Papers (CIS)

Date of this Version


Document Type

Conference Paper


6th International Conference on Cyber-Physical Systems (ICCPS 2015) in conjunction with CPS Week 2015


This paper addresses the problem of detection and identification of sensor attacks in the presence of transient faults. We consider a system with multiple sensors measuring the same physical variable, where some sensors might be under attack and provide malicious values. We consider a setup, in which each sensor provides the controller with an interval of possible values for the true value. While approaches exist for detecting malicious sensor attacks, they are conservative in that they treat attacks and faults in the same way, thus neglecting the fact that sensors may provide faulty measurements at times due to temporary disturbances (e.g., a tunnel for GPS). To address this problem, we propose a transient fault model for each sensor and an algorithm designed to detect and identify attacks in the presence of transient faults. The fault model consists of three aspects: the size of the sensor's interval (1) and an upper bound on the number of errors (2) allowed in a given window size (3). Given such a model for each sensor, the algorithm uses pairwise inconsistencies between sensors to detect and identify attacks. In addition to the algorithm, we provide a framework for selecting a fault model for each sensor based on training data. Finally, we validate the algorithm's performance on real measurement data obtained from an unmanned ground vehicle.

Subject Area

CPS Auto, CPS Efficient Buildings

Publication Source

6th International Conference on Cyber-Physical Systems (ICCPS 2015)

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Copyright/Permission Statement

© ACM 2015. This is the author's version of the work. It is posted here for your personal use. Not for redistribution. The definitive Version of Record was published in Proceedings of the ACM/IEEE Sixth International Conference on Cyber-Physical Systems,


Security and Protection, Unauthorized access, Process control systems, Real-time and embedded systems



Date Posted: 04 May 2015

This document has been peer reviewed.