Figure 1.
Figure 2.
Figure 3.
Applications of Home Robots
| Applications and Sub-applications | References | ||
|---|---|---|---|
| Social Robot | [6, 7, 8, 9] | ||
| Companion Robot | [10] | ||
| Care | Elderly Care Robot | General | [6, 10, 11, 12, 13, 14, 15] |
| Fall Detection | [11, 16] | ||
| Single Care | [17] | ||
| Child Care Robot | General | [13] | |
| Telepresence | [18] | ||
| Personal Care | [19] | ||
| Cooking | [6, 20] | ||
| Entertainment | General | [16] | |
| Music Player | [6] | ||
| Social Media Access | [13] | ||
| Health Care | Drug Reminder | [16] | |
| Drug and Food Estimation | [21] | ||
| Medication Reminders | [6, 22] | ||
| Monitor Health | [22] | ||
| Cleaning and Organization | General | [6, 23] | |
| Clean Floors | [22] | ||
| Vacuuming | [20] | ||
| Self-making Bed | [20] | ||
| Automatic Bookshelf or Cupboard | [20] | ||
| Find and Bring Objects | General | [16, 22, 23] | |
| Bring Coffee | [20] | ||
| Cloth | Folds Laundry | [20] | |
| Garment Folding | [20] | ||
| Dressing | [22] | ||
| Lawn Mower | [20] | ||
| Movable Trash Bins | [20] | ||
| Home Security | Monitoring of Houses | [13, 24, 25] | |
| Smart Home Assistant | [26, 27] | ||
| Rollator Walker | [28] | ||
| Transfer | [22] | ||
Overview of Security Issues and Classifications for CPS
| Issues | Classification and General Descriptions | References | |
|---|---|---|---|
| General Issues | Differences with ICT security, CPS security challenges, and requirements | [56, 57, 58, 59, 63] | |
| Main Issues | Vulnerabilities | Classification Based on the cyber and physical components | [55] |
| Threats | Classification based on architecture layers | [57] | |
| Classification Based on the Abstract Threats as attack vectors | [56] | ||
| Classification Based on cyber and physical components | [55] | ||
| Attacks | Classification Based on architectural layers | [58, 59] | |
| Classification Based on the type and function of the attack | [56] | ||
| Classification Based on cyber and physical components | [55] | ||
| Mechanisms | Classification Based on the type of attack | [56] | |
| Classification Based on cyber and physical components | [57] | ||
| Classification Based on architectural layers | [59, 62] | ||
| Some mechanisms without classification | [55, 56, 58] | ||
Architecture considerations of home robots
| Architecture Consideration | References | |
|---|---|---|
| Cloud | [28] | |
| Infrastructure | Mobile phone | [27] |
| Home Personal Computer (PC) | [28, 7] | |
| System | Smart home | [27, 29, 30] |
| Robot group | [23] | |
| Autonomous | [18] | |
| Operation modes | Remote controller (monitor, command execution) | [7] |
| Interactive | [18] | |
| Device behavior | Proactive, reactive | [10] |
| Device appearance | Creature, object | [10] |
| Device function | Assistive, companion, service | [10] |
| Device mobility | Mobile, stationary | [10] |
| Separable device | [31] | |
| Infrastructural services | Object recognition (detection) | [21, 12], |
| Remote control | [31] | |
| Obstacle avoidance | [31] | |
| Tracking (follow user, come to the user) | [31] | |
| Power metering | [31] | |
| Assistance decision maker | [12] | |
| Positioning and navigation, map construct | [12] [19, 16], | |
| Grasping | [12] | |
| User interface | [12, 20] | |
| Robots collaboration management | [20] | |
| Face and gesture recognition | [20, 19, 16] | |
| Simultaneous Localization and Mapping (SLAM) | [19] | |
| Planning | [19] | |
| Text to speech | [16] | |
| Speech recognition (robot call) | [16] | |
| Robot setup | [16] | |
| Self-charge | [16] | |
| Image and video transfer and automatic video recording | [28] | |
| Distance estimation | [28] | |
| Software service design | Representational State Transfer (REST) as a platform independent protocol | [32] |
| Sensor | Laser, noise, light | [12] |
| Robot and human interaction | Verbal, non-verbal | [20] |
| Design goals | Engaging, unobtrusive, device-like, respectful, reassuring | [26] |
Security Issues of Home Robots
| Security Considerations | References | ||
|---|---|---|---|
| Main Issues | Attacks | Denial of Service (DoS) | [13] |
| Analyzing packet capture | [13] | ||
| Threats | Privacy violation (especially for social interactions with robots) for some goals (location, object, information) | [13, 33] | |
| Active and passive eavesdropping | [13] | ||
| Network security breach | [13] | ||
| Robot vandalism | [13] | ||
| Spying | [13] | ||
| Vulnerabilities | Interface application | [7] | |
| Remote execution of code | [8] | ||
| Status Check | [8] | ||
| Allocation of a static Internet Protocol (IP) Address | [13] | ||
| Availability of open ports | [13] | ||
| Unsupervised data exchange | [13] | ||
| Internet connection | [13] | ||
| Webcam | [13] | ||
| Mechanisms | Authentication | [8] | |
| Two-factor authentication | [13] | ||
| Biometrics as a second factor in authentication | [13] | ||
| The privacy-utility tradeoff for remotely teleoperated robots that decrease image quality when sending it | [33] | ||
| Situational awareness | [19] | ||
| General Issues | Principles | Privacy | [14, 20, 34, 35, 36] |
| Ethical implications: Assisting elderly or disabled people, monitoring of houses, accessing social media, childcare | [13, 34] | ||
| Trust | [34] | ||
| Safety: The home robot faces more uncertainty in the environment than the industrial robot, posing more safety concerns. | [15, 37] | ||
| Architecture Issues | Security issues are primarily discussed in the network layer. | [7] | |
Overview of Security Issues and Classifications for Smart Home
| Issues | Classification | References | |
|---|---|---|---|
| General Issues | The Internet of Things(IoT) challenges | [65] | |
| Main Issues | Vulnerability | Software flaws | [68] |
| Attacks | Classification based on security principles violated by the attack | [65] | |
| Classification based on architectural layers | [64, 66] | ||
| Classification based on security principles violated by the attack | [66] | ||
| Classification based on the activity of the attack over time | [66] | ||
| Security in collaboration systems (cloud) | [66] | ||
| Classification based on the connected object | [66] | ||
| Classification based on attack target asset | [64, 66] | ||
| Mechanisms | Classification based on the activity of the attack over time and the type of attack in the cloud architecture | [64, 70] | |
| Classification based on architectural layers | [66] | ||
| Classification based on the gateway architecture and its layers | [67] | ||
| Without classification | [68, 69] | ||
Overview of Security Issues and Classifications for Robots
| Issue | Classification or General Description | References | |
|---|---|---|---|
| General issues | Privacy issues | [38, 39] | |
| Safety issues | [40, 41, 50] | ||
| Architecture layers | [49] | ||
| AI usage | [51] | ||
| ROS Middleware | [49, 50] | ||
| Main issues | Vulnerabilities | Comparison of two home robots (Rovio and Spykee)-50 | [48, 50] |
| Threats | Classification based on Degree of risk | [45] | |
| Attacks | Classification based on Assets that are the target of an attack | [43] | |
| Classification based on the motives of the attackers | [43] | ||
| Without classification | [46, 47, 48] | ||
| Mechanisms | Classification based on the type of attack and the time that we apply the mechanism | [44] | |
| Risk analysis | [46] | ||
| Classification based on the type of assets | [43, 47] | ||
| Without classification | [48] | ||