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<title>DMARCE Project</title>
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<h1>DMARCE - Project</h1>
Grant DMARCE are EDMAR PID2021-126592OB-C21 and CASCAR PID2021-126592OB-C22 funded by MICIU/AEI/10.13039/501100011033 and "ERDF/EU".
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<li><a href="#home">DMARCE Project</a></li>
<li><a href="#edmar">EDMAR</a></li>
<li><a href="#cascar">CASCAR</a></li>
<li><a href="#publications">Publications</a></li>
<li><a href="#about">About</a></li>
<li><a href="#contact">Contact</a></li>
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<h2>Decision Making in Autonomous Robots: Cybersecurity and Explainability (DMARCE)</h2>
<p> Human-robot interaction is exponentially increasing, and the frequency of events involving robots keeps growing, requiring, in addition to
safety and security requirements, the inclusion of explicability systems that let us understand what had happened, and why, in order to
keep us trusting autonomous robots and to make them accountable. The goal of this joint research project is to investigate if these
requirements can be fulfilled and how to do it in the context of the state of the art of software development frameworks for robots.
Autonomous robots are capable of sensing the environment, generating information from the data obtained, and using it to make the
decisions that let them interact with the world around them. Thus, robots are continuously gathering information about the environment and
the humans with which it shares it, what also raises privacy concerns. Additionally, if a robot is compromised, a two-dimensional security
problem arises: first, security issues regarding the virtual side of the robot (data, communications, and so on), and second, those problems
associated with physical safety and those issues associated with both robot and human integrity.</p>
<p>In 2019, the European Commission defined the strategy for ethics guidelines for trustworthy AI based on 3 elements lawful, ethical and
robust. The set of guidelines define a set of 7 requirements which will define an AI, therefore all robot systems should meet them in order
to be deemed trustworthy: Human agency and oversight, Technical Robustness and safety, Privacy and data governance, Transparency,
Diversity, non-discrimination and fairness, Societal and environmental well-being and Accountability. This project will provide an answer to
four of these requirements: Accountability, Transparency, Privacy and Technical Robustness and Safety. These answers are grouped in
the two sub projects presented here.</p>
<p>First subproject will be mainly devoted to Accountability. This will mean modeling and generating an engine for guaranteeing the
responsibility of each element in the robotic system and for defining a system for blaming software elements in case of events. Traversal to
this, it is necessary to deploy a traceability system that can help achieve this. The aim here is to provide a mechanism able to offer
information to all kinds of stakeholders of the systems capabilities, behaviors and limitations. As a result, we will offer enough information
for providing transparency of these elements.</p>
<p>Second subproject will be devoted in guaranteeing cybersecurity and technical robustness and safety of the robots. This subproject will
transversally cover the privacy of the data gathered. The cibersecurity system, joint with the explainability engine, will increase the
trustworthiness of the robotic systems.</p>
<p>In summary, the aim of the research proposed in this project is the design, development, and evaluation of software systems to provide
explainability capabilities to autonomous robotic systems. These systems will provide the translation from robot behavior to human
language taking specially into account the cybersecurity dimension. The project will generate a technical engine capable of avoiding
threats to the system that could potentially have an impact on the safety of the robot and the people interacting with it.</p>
</div>
<div id="edmar" class="content-region hide">
<h2>Explainability in the Decision Making for Autonomous Robots (EDMAR)</h2>
<p>
</p>
<p>The ability to understand why, what, when, where, how and to whom a particular robot behavior was triggered are a
cornerstone if we want to have robots socially acceptable by humans. Every robot action should be able to be explained and audited.
Beyond that, expected and unexpected robot behaviors should generate a fingerprint showing the components and events that produce
them. A whole field of research, Explainable AI (XAI) tries to address this issue to better understand the systems underlying mechanisms
and find solutions to their explainability.</p>
<p>In this way, this project will stand on the concept of accountability, which implies that an agent should be held responsible for its activities
and provide verifiable evidences of the decisions made. Therefore, all robot actions should be traceable, and it should be also possible to
identify the events that triggered that action afterwards.</p>
<p>This project proposes a complete lifecycle approach to the robotic software, identifying and modeling the main characteristics of an
accountable system, providing these models for the roboticist community, then analyzing the real robot behavior when deployed in robotic
competition challenges, and offering the information generated to different members of the robotics community as training pills. Thus, visits
to European centers focused on research on the safety and security of robots are envisioned as a way to validate the model.The goal is to
promote the framework designed and developed in the project, and to provide the same training established here along Europe.
The aim of this project is to generate a framework for generating conformance explainability in the robot. The project proposes the idea of
an auditing system based on logs, which is commonly accepted as the "by default" mechanism in robotics, it also proposes a mechanism
for translating this information into language understandable by non-technical users.</p>
<p>This framework will be built as a two-level system. The first layer would deal with the raw information coming from the logs, generation
accountability reports useful for developers and deployers. The second layer would generate the explanations at the level of the robot
behaviors, understandable by the general public. The idea is to reduce the fear of the unknown associated with robot deployment and
simplify the understanding of robot behaviors. </p>
<p>The project will also face the problem of the standardization of the auditing. Most autonomous robots deployed in real-world environments
do not have standardized mechanisms for letting auditing when the robot is autonomously generating behavior, and when it does, that
mechanism creates problems in the robot performance.
It also has to be taken into account, that when this assessment is forensic, that is to find out who is legally responsible for the actions
performed by an autonomous agent, it is necessary to establish a set of monitoring, registration, and secure data-recording mechanisms in
order to guarantee that the data has not been tampered with, these problems that will be faced in the second subproject.</p>
</div>
<div id="cascar" class="content-region hide">
<h2>Cybersecure And Safe Cognitive Architectures for Robots (CASCAR) </h2>
<p> Deploying robots in human-inhabited environments is a major security challenge. This joint project addresses the new security issues that
arise when robots coexist with humans, which have yet to be addressed.
While the subproject associated with this addresses how to analyze the actions and reasoning that lead a robot to damage or compromise
privacy, this subproject addresses how to detect threats and their effects. These threats come mainly from intrusions that alter a robot's
expected behavior or access to its sensors. We want to explore the relationship between security and cybersecurity.</p>
<p>In cybersecurity, there are tools to protect computer systems from viruses and intrusions (which we call threats) in systems, networks, and
applications. Robots have the unique feature of having actuators that can damage the environment or humans if they are maliciously
manipulated. That is why cybersecurity aspects are specifically necessary for a robot's software. A threat could inject false images to make
a robot make wrong decisions, alter the robot's plans to carry out a mission, generate navigation routes to forbidden or dangerous places,
or steal the information from the robot cameras.</p>
<p>This subproject focuses on cybersecurity in robot programming frameworks and cognitive architectures built on robot perception,
reasoning, and performance. We want to study what types of tools and standards are explicitly needed in robot software to detect and
mitigate threats. This research includes the mechanisms to ensure that the evidence that shows these threats' activity is not hidden,
making a subsequent explicability process reliable.</p>
<p> We also want to study what mechanisms can be applied to ensure people's safety and the environment when a cybersecurity problem
occurs. In industrial systems, modes of operation are used to ensure workers' safety when working with robots. If a</p>
</div>
<div id="publications" class="content-region hide">
<h2>List of publications:</h2>
<h2>Journal:</h2>
<h3>2025:</h3>
<ul>
<li><b>Towards a robotic intrusion prevention system: Combining security and safety in cognitive social robots, </b>
Francisco Martín , Enrique Soriano-Salvador , José Miguel Guerrero , Gorka Guardiola Múzquiz , Juan Carlos Manzanares , Francisco J. Rodríguez
Robotics and Autonomous Systems, 15 March 2025, 104959
<a href="https://doi.org/10.1016/j.robot.2025.104959">10.1016/j.robot.2025.104959</a>
<li><b>Generating Explanations for Autonomous Robots: A Systematic Review</b>
D. Sobrín-Hidalgo, Á. Manuel Guerrero-Higueras and V. Matellán-Olivera, in IEEE Access, vol. 13, pp. 20413-20426, 2025,
<a href="https://doi.org/10.1016/10.1109/ACCESS.2025.3535097">10.1109/ACCESS.2025.3535097</a>
<li><b>SAILOR: perceptual anchoring for robotic cognitive architectures</b>
Miguel Á. González-Santamarta, Francisco J. Rodrıguez-Lera, Vicente Matellan-Olivera, Virginia Riego del Castillo & Lidia Sánchez-González
Scientific Reports 15, 113 (2025).
<a href="https://doi.org/10.1038/s41598-024-84071-2">https://doi.org/10.1038/s41598-024-84071-2</a>
<li><b>A systematic literature review of unsupervised learning algorithms for anomalous traffic detection based on flows</b>
Alberto Miguel-Diez, Adrian Campazas-Vega, Claudia Alvarez-Aparicio, Gonzalo Esteban-Costales, Angel Manuel Guerrero-Higueras,
Logic Journal Of The Igpl, Acceptance Date, 2025 Apr 24
<a href="https://doi.org/10.1093/jigpal/jzaf020">https://doi.org/10.1093/jigpal/jzaf020</a>
<li><b>Improving Accountability and Explainability in Robots through Encryption, Large Language Models, and Visual Language Models, </b>
Laura Fernandez-Becerra, David Sobrin-Hidalgo, Miguel González-Santamarta, Angel Guerrero-Higueras, Francisco Rodríguez Lera, Vicente Matellan Olivera,
Logic Journal Of The Igpl, Acceptance Date, 2025 Apr 24
<a href="https://doi.org/10.1093/jigpal/jzaf016">https://doi.org/10.1093/jigpal/jzaf016</a>
<li><b>Implementing a Robot Intrusion Prevention System (RIPS) for ROS 2</b>
Enrique Soriano-Salvador, Francisco Martín-Rico and Gorka Guardiola Múzquiz.
2024. Under revision. Preprint: <a href="https://arxiv.org/abs/2412.19272">arXiv</a>.
<li><b>User-space library rootkits revisited: Are user-space detection mechanisms futile?</b>
Enrique Soriano-Salvador, Gorka Guardiola Múzquiz, Juan González Gómez.
Under revision. Preprint:<a href="https://arxiv.org/abs/2506.07827">arXiv.</a>
<li> <b>The Reverse File System: Towards open cost-effective secure WORM storage devices for logging</b>
Gorka Guardiola Múzquiz, Juan González-Gómez, Enrique Soriano-Salvador. Accepted for publication in
Computers and Security (Elsevier).
Preprint: <a href="https://arxiv.org/abs/2509.17969">arXiv.</a>
</ul>
<h3>2024:</h3>
<ul>
<li><b>Accountability as a service for robotics: Performance assessment of different accountability strategies for autonomous robots, </b>
Laura Fernández-Becerra, Ángel Manuel Guerrero-Higueras, Francisco Javier Rodríguez-Lera, Vicente Matellán,
Logic Journal of the IGPL, Volume 32, Issue 2, April 2024, Pages 243–262,
<a href="https://doi.org/10.1093/jigpal/jzae038">10.1093/jigpal/jzae038</a>
<li><b>A robot-based surveillance system for recognising distress hand signal,</b>
Virginia Riego del Castillo, Lidia Sánchez-González, Miguel Á González-Santamarta, Francisco J Rodríguez Lera,
Logic Journal of the IGPL, 2024;
<a href="https://doi.org/10.1093/jigpal/jzae067">10.1093/jigpal/jzae067</a>
<li><b>Open source robot localization for nonplanar environments.</b>
Rico, F.M., Hernández, J.M.G., Pérez-Rodríguez, R., Peña-Narvaez, J.D. & Gómez-Jacinto, A.G.
Journal of Field Robotics, 41, 1922–1939. (2024).
<a href="https://doi.org/10.1002/rob.22353">10.1002/rob.22353</a>
<li><b>Optimized network for detecting burr-breakage in images of milling workpieces, </b>
Virginia Riego del Castillo, Lidia Sánchez-González, Nicola Strisciuglio,
Logic Journal of the IGPL, 2024;,
<a href="https://doi.org/10.1093/jigpal/jzae024">10.1093/jigpal/jzae024</a>
<li><b>Robocup 2023-2024 ROSbag Dataset </b>
Irene González Fernández , Juan Diego Peña Narváez , José Miguel Guerrero Hernández , Rodrigo Pérez Rodríguez , Alejandro González Cantón , Francisco Javier Rodríguez Lera
Data in Brief, ISSN: 2352-3409, 2024, Volume: 57
<a href="https://doi.org/10.1016/j.dib.2024.111086">https://doi.org/10.1016/j.dib.2024.111086</a>
</ul>
<h3>2023:</h3>
<ul>
<li><b>Detecting and bypassing frida dynamic function call tracing: exploitation
and mitigation.</b>
Enrique Soriano-Salvador and Gorka Guardiola-Múzquiz.
Journal of Computer Virology and Hacking Techniques.
Volume 19, pages 503–513 (2023). Journal article. DOI:
<a href="https://doi.org/10.1007/s11416-022-00458-7">10.1007/s11416-022-00458-7</a>
<li><b>SealFSv2: combining storage-based and ratcheting for tamper-evident logging.</b>
Gorka Guardiola-Múzquiz and Enrique Soriano-Salvador.
International Journal of Information Security. 2022-12-06.
Volume 22, pages 447–466 (2023). Springer Nature.
DOI: <a href="https://doi.org/10.1007/s10207-022-00643-1">10.1007/s10207-022-00643-1</a>
<li><b> MERLIN2: MachinEd Ros 2 pLanINg.</b>
Miguel Á. González-Santmarta, Francisco J. Rodríguez-Lera, Camino Fernández-Llamas, Vicente Matellán-Olivera,
Software Impacts, Volume 15, 2023, 100477, ISSN 2665-9638,
DOI: <a href="https://doi.org/10.1016/j.simpa.2023.100477">10.1016/j.simpa.2023.100477</a>
<li><b> Regulated pure pursuit for robot path tracking.</b>
Macenski, S., Singh, S., Martín, F. et al. Autonomous Robots 47, 685–694 (2023).
DOI: <a href="https://doi.org/10.1007/s10514-023-10097-6">10.1007/s10514-023-10097-6</a>
<li><b> A visual questioning answering approach to enhance robot localization in indoor environments .</b>
Peña-Narvaez JD, Martín F, Guerrero JM and Pérez-Rodríguez R. Frontiers on Neurorrobotics (2023).
DOI: <a href="https://doi.org/10.3389/fnbot.2023.1290584">110.3389/fnbot.2023.1290584</a>
<li><b> Malicious traffic detection on sampled network flow data with novelty-detection-based models.</b>
Campazas-Vega, A., Crespo-Martínez, I.S., Guerrero-Higueras, Á.M. et al. Sci Rep 13, 15446 (2023).
DOI: <a href="https://doi.org/10.1038/s41598-023-42618-9">10.1038/s41598-023-42618-9</a>
<li><b> SQL injection attack detection in network flow data.</b>
Ignacio Samuel Crespo-Martínez, Adrián Campazas-Vega, Ángel Manuel Guerrero-Higueras, Virginia Riego-DelCastillo, Claudia Álvarez-Aparicio, and Camino Fernández-Llamas.
Compututer Security 127, C (Apr 2023).
DOI: <a href="https://doi.org/10.1016/j.cose.2023.103093">https://doi.org/10.1016/j.cose.2023.103093</a>
<li><b> Analyzing the influence of the sampling rate in the detection of malicious traffic on flow data.</b>
Campazas-Vega, A., Crespo-Martínez, I. S., Guerrero-Higueras, Á. M., Álvarez-Aparicio, C., Matellán, V., & Fernández-Llamas, C. (2023). Computer Networks, 235, 109951.
DOI: <a href="https://doi.org/10.1016/j.comnet.2023.109951">10.1016/j.comnet.2023.109951</a>
</ul>
</ul>
<h2>Conferences:</h2>
<h3>2025:</h3>
<ul>
<li><b> Accessible and Pedagogically-Grounded Explainability for Human–Robot Interaction: A Framework Based on UDL and Symbolic Interfaces </b>
Francisco J. Rodríguez Lera; Raquel Fernández Hernández; Sonia Lopez González; Miguel Angel Gonzalez-Santamarta; Francisco Jesús Rodríguez Sedano; Camino Fernandez Llamas </b>
2025 34th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN)
<a href="https://doi.org/10.1109/RO-MAN63969.2025.11217773">https://doi.org/10.1109/RO-MAN63969.2025.11217773</a>
<li><b> On-Edge Task Planning with Large Language Models for Service Robotics </b>
Alejandro González-Cantón, Miguel A. González-Santamarta, Francisco J. Rodriguez Lera, Ángel M. Guerrero-Higueras, Irene González-Fernández & Francisco Martín-Rico , </b>
International Conference on Hybrid Artificial Intelligence Systems, HAIS 2025, Salamanca, Lecture Notes in Computer Science ((LNAI,volume 16203)) </b>
<a href="https://link.springer.com/chapter/10.1007/978-3-032-08462-0_28">https://link.springer.com/chapter/10.1007/978-3-032-08462-0_28</a>
<li><b> Definiendo el concepto de explicación: propuesta de una taxonomía para explicabilidad en robótica </b>
David Sobrín Hidalgo, Ángel Manuel Guerrero Higueras, Francisco Javier Rodríguez Lera, Vicente Matellán Olivera.
Actas de las X Jornadas Nacionales de Investigación en Ciberseguridad, Zaragoza, Junio 2025
<a href="https://dialnet.unirioja.es/servlet/articulo?codigo=10228848">https://dialnet.unirioja.es/servlet/articulo?codigo=10228848</a>
<li><b> Aportes para el cumplimiento del Reglamento (UE) 2024/1689 en robótica y sistemas autónomos </b>
Francisco J Rodríguez Lera, Yoana Pita Lorenzo, Laura Fernández Becerra, David Sobrín Hidalgo, Irene González Fernández, José Miguel Guerrero
Actas de las X Jornadas Nacionales de Investigación en Ciberseguridad, Zaragoza, Junio 2025
<a href="https://dialnet.unirioja.es/servlet/articulo?codigo=10228848">https://dialnet.unirioja.es/servlet/articulo?codigo=10228850</a>
<li><b> Environmental Sound Recognition for Human-Robot Interaction in Social Robots. </b>
Irene González Fernández, David Sobrín-Hidalgo, Juan Diego Peña-Narvaez, Francisco J. Rodríguez Lera, Camino Fernández Llamas, and Francisco Martín.
Hybrid Artificial Intelligent Systems (HAIS 2025), Salamanca (Spain), Nov 2025.
<a href="https://link.springer.com/chapter/10.1007/978-3-032-08465-1_2">https://link.springer.com/chapter/10.1007/978-3-032-08465-1_2</a>
<li><b> Socarrat en mi Raspberry Pi: Aunque rasques, no podrás borrar estos ficheros.</b>
Gorka Guardiola Múzquiz and Enrique Soriano-Salvador. RootedCON 2025, Criptored Con track, Madrid, Spain. March 2025.
<li><b> Socarrat: Building Cost-Effective Secure WORM Devices Following the Reverse File System Approach.</b>
Gorka Guardiola Múzquiz and Enrique Soriano-Salvador. ACM EuroSys 2025, poster track. Rotterdam, Netherlands. March 2025.
<li><b> Cybersecurity Challenges in Autonomous Robots: The Link Between Explainability and Decision-Making Risks </b>
European Robotics Forum, 25-27 Marzo 2025. Stuttgart. CS4R - Cybersecurity for robotics WS.
<li><b>Socarrat for Plan 9: building 9P WORM Devices.</b> Gorka Guardiola Múzquiz and Enrique Soriano-Salvador. 11th International Workshop on Plan 9. May 22-24, 2025, Paris.
</ul>
<h3>2024:</h3>
<ul>
<li><b> Explicabilidad aplicada a ciberseguridad en sistemas autónomosUn enfoque basado en LLMs para la detección forense de amenazas </b>
David Sobrín-Hidalgo Irene González-Fernández Miguel Ángel González-Santamarta Adrián Campazas-Vega Ángel Manuel Guerrero-Higueras Francisco Javier Rodríguez-Lera Vicente Matellán-Olivera
Jornadas Nacionales de Investigación en Ciberseguridad (JNIC) (9ª.2024. Sevilla) (2024), pp. 644-651.
<a href="https://hdl.handle.net/11441/163418">https://hdl.handle.net/11441/163418</a>
<li><b>Cascade LifeCycle: A Convenient Building Block for Efficient Robot Software Architectures.</b>
Peña-Narvaez JD, Martín F, Guerrero JM and Pérez-Rodríguez R. Proceedings of
the 2024 7th Iberian Robotics Conference (ROBOT), Madrid, Spain, 2024, pp. 1-7.
<a href="https://doi.org/10.1109/ROBOT61475.2024.10796947">10.1109/ROBOT61475.2024.10796947</a>
<li><b>Performance Impact of Strengthening the Accountability and Explainability System in Autonomous Robots.</b>
Alejandro González Cantón, Miguel Angel Gonzalez Santamarta, Francisco J Rodríguez Lera, Enrique Soriano
Salvador and Gorka Guardiola Muzquiz. Accepted for publication. Proceedings of
the CISIS 2024 (17th International Conference on Computational Intelligence in Security for
Information Systems). To be published in Lecture Notes in Network and Systems (LNNS), Springer.
<a href="https://doi.org/10.1007/978-3-031-75016-8_8">10.1007/978-3-031-75016-8_8</a>
<li><b>Defining a Standard Blockchain-based Black Box for Autonomous Systems</b>
Inyesto-Alonso, Laura | Sobrín-Hidalgo, David | Álvarez-Aparicio, Claudia | Campazas-Vega, Adrián | Guerrero-Higueras, Ángel M. | Matellán Olivera, Vicente
Proceedings of the XXIV Workshop of Physical Agents. Alicante: Universidad de Alicante. ISBN 978-84-09-63822-2, pp. 46-59
<a href="http://hdl.handle.net/10045/146426">http://hdl.handle.net/10045/146426</a>
<li><b>An Approach Based on LLMs for Forensic Threat Detection in Autonomous Systems</b>
David Sobrín-Hidalgo, Irene González-Fernández, Miguel Ángel González-Santamarta, Adrián Campazas-Vega, Claudia Álvarez-Aparicio, Ángel Manuel Guerrero-Higueras, Francisco Javier Rodríguez-Lera & Vicente Matellán-Olivera
International Joint Conferences. ICEUTE CISIS 2024 2024. Lecture Notes in Networks and Systems, vol 957. Springer, Cham.
<a href="https://doi.org/10.1007/978-3-031-75016-8_3">https://doi.org/10.1007/978-3-031-75016-8_3</a>
<li><b>Fuzzing Robotic Software Using HPC and LLM</b>
Francisco Borja, G.D.R., Lera, F.J.R., Llamas, C.F., Olivera, V.M. (2024).
International Joint Conferences. ICEUTE CISIS 2024 2024. Lecture Notes in Networks and Systems, vol 957. Springer, Cham. h
<a href="https://doi.org/10.1007/978-3-031-75016-8_7">https://doi.org/10.1007/978-3-031-75016-8_7</a>
<li><b>Evaluating Sniffers, IDS, and IPS: A Systematic Literature Mapping</b>
Raúl Bayón-Martínez, Laura Inyesto-Alonso, Adrián Campazas-Vega, Gonzalo Esteban-Costales, Claudia Álvarez-Aparicio, Ángel Manuel Guerrero-Higueras & Vicente Matellán-Olivera
International Joint Conferences. ICEUTE CISIS 2024 2024. Lecture Notes in Networks and Systems, vol 957. Springer, Cham.
<a href="https://doi.org/10.1007/978-3-031-75016-8_15">https://doi.org/10.1007/978-3-031-75016-8_15</a>
<li><b>Cybersecurity Issues in Robotic Platforms.</b>
Campazas-Vega, A., Miguel-Diez, A., Hermida-López, M., Álvarez-Aparicio, C., Crespo-Martínez, I. S., & Guerrero-Higueras, Á. M. (2024).
Proceedings of the 14th International Conference on Business Information Security, BISEC 2023. CEUR Workshop Proceedings, 3676, 4-11.
<a href="https://ceur-ws.org/Vol-3676/short_01.pdf">https://ceur-ws.org/Vol-3676/short_01.pdf</a>
</ul>
<h3>2023:</h3>
<ul>
<li><b>Accountability and Explainability in Robotics: A Proof of Concept for ROS 2- And Nav2-Based Mobile Robots.</b>
Fernández-Becerra, L., González-Santamarta, M.A., Sobrín-Hidalgo, D., Guerrero-Higueras, Á.M., Lera, F.J.R., Olivera, V.M. (2023).
In: García Bringas, P., et al. International Joint Conference 16th International Conference on Computational Intelligence
in Security for Information Systems (CISIS 2023) 14th International Conference on EUropean Transnational Education (ICEUTE 2023).
CISIS ICEUTE 2023 2023. Lecture Notes in Networks and Systems, vol 748. Springer, Cham.
DOI: <a href="https://doi.org/10.1007/978-3-031-42519-6_1">10.1007/978-3-031-42519-6_1 </a>
<li><b>Ciberseguridad en sistemas ciberfísicos: entorno simulado para la evaluación de competencias en ciberseguridad en sistemas con capacidades autónomas</b>
David Sobrín Hidalgo; Laura Fernández Becerra; Miguel A. González Santamarta; Claudia Álvarez Aparicio; Ángel Manuel Guerrero Higueras ;
Miguel Ángel Conde González; Francisco J. Rodríguez Lera; Vicente Matellán Olivera
Actas de las VIII Jornadas Nacionales de Investigación en Ciberseguridad: Vigo, 21 a 23 de junio de 2023 / coord. por
Yolanda Blanco Fernández Árbol académico, Manuel Fernández Veiga Árbol académico, Ana Fernández Vilas Árbol académico,
José María de Fuentes García-Romero de Tejada Árbol académico, 2023, ISBN 978-84-8158-970-2, págs. 461-467
<a href="https://dialnet.unirioja.es/servlet/articulo?codigo=9044937">https://dialnet.unirioja.es/servlet/articulo?codigo=9044937</a>
<li><b>Using Large Language Models for Interpreting Autonomous Robots Behaviors.</b>
González-Santamarta, M.Á., Fernández-Becerra, L., Sobrín-Hidalgo, D., Guerrero-Higueras, Á.M., González, I., Lera, F.J.R. (2023).
In: García Bringas, P., et al. Hybrid Artificial Intelligent Systems. HAIS 2023. Lecture Notes in Computer Science(), vol 14001. Springer, Cham.
DOI: <a href="https://doi.org/10.1007/978-3-031-40725-3_45">978-3-031-40725-3_45</a>
<li><b>Portable Multi-Hypothesis Monte Carlo Localization for Mobile Robots.</b>
A. García, F. Martín, J. M. Guerrero, F. J. Rodríguez and V. Matellán, (2023).
2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1933-1939
DOI: <a href="https://doi.org/10.1109/ICRA48891.2023.10160957">10.1109/ICRA48891.2023.10160957 </a>
<li><b>RIPS: Robotics Intrusion Prevention System. </b>
Enrique Soriano-Salvador and Gorka Guardiola Múzquiz.
ROSCon Madrid 2023. September, 2023.<a href="https://gsyc.urjc.es/~esoriano/roscon2023.pdf"> Slides deck</a>
<li><b>llama_ros:Unleashing the power of LLMs as Embedded AI in Robotics. </b>
Miguel Á. González-Santamarta
ROSCon Madrid 2023. September, 2023.<a href="https://github.com/mgonzs13/llama_ros/blob/main/docs/ROSCon_Spain_2023.pdf">Slides deck</a>
<li><b> Fuzzing Robotic Software Using HPC.</b>
Del Río, F.B.G., Lera, F.J.R., Llamas, C.F., Olivera, V.M. (2023).
In: García Bringas, P., et al. International Joint Conference 16th International Conference on Computational Intelligence in Security for Information Systems (CISIS 2023)
14th International Conference on EUropean Transnational Education (ICEUTE 2023). CISIS ICEUTE 2023 2023.
Lecture Notes in Networks and Systems, vol 748. Springer, Cham.
<a href="https://doi.org/10.1007/978-3-031-42519-6_3">978-3-031-42519-6_3</a>
</ul>
<h2>Preprints:</h2>
<ul>
<li><b> ROXIE: Defining a Robotic eXplanation and Interpretability Engine </b>
Rodríguez-Lera, F. J., González-Santamarta, M. A., González-Cantón, A., Fernández-Becerra, L., Sobrín-Hidalgo, D., & Guerrero-Higueras, A. M. (2024).
arXiv preprint arXiv:2403.16606.
<a href="https://arxiv.org/abs/2403.16606">https://arxiv.org/abs/2403.16606</a>
<li><b>Pyramidal Explainability for Convolutional Neural Networks</b>
Riego del Castillo, Virginia and Sánchez-González, Lidia.
2025. Under revision. Preprint: <a href="http://dx.doi.org/10.2139/ssrn.5379210">SSRN</a>.
</ul>
<h2> Demos/Experiments: </h2>
<ul>
<li> Demo 0: RIPS scenario, no attacks. Robocup's receptionists.
<br>
<iframe width="560" height="315" src="https://www.youtube.com/embed/kpREBzazyik?si=qXBk4tFQmJipRN5O" title="YouTube video player" frameborder="0" allow="accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture; web-share" referrerpolicy="strict-origin-when-cross-origin" allowfullscreen></iframe>
<br>
<li> Demo 1: In this experiment, we model a scenario wherein an unauthorized
entity gains access to the data stream containing video footage
captured by the robot's front-facing camera.
RIPS detects the anomalous behavior and disables the front camera.
<br>
<iframe width="560" height="315" src="https://www.youtube.com/embed/lRMtxMtgSCs?si=_8HgAt3C4Cr8_4Wh" title="YouTube video player" frameborder="0" allow="accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture; web-share" referrerpolicy="strict-origin-when-cross-origin" allowfullscreen></iframe>
<br>
<li> Demo 2: RIPS detects an unauthorized use of the navigation service and forbids the navigation within a restricted zone.
<br>
<iframe width="560" height="315" src="https://www.youtube.com/embed/3pEiNiEPQtY?si=J75GxguIXkkrK-76" title="YouTube video player" frameborder="0" allow="accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture; web-share" referrerpolicy="strict-origin-when-cross-origin" allowfullscreen></iframe>
<br>
<li> Demo 3: RIPS is monitoring the topics of the system and inspecting the messages. It uses a YARA rule to detect a signature of the malicious payload. To mitigate the attack, RIPS activates a System Mode to halt the robot.
<br>
<iframe width="560" height="315" src="https://www.youtube.com/embed/5BBzSYO2Z2c?si=I8Jsuz7xKEA9P5eU" title="YouTube video player" frameborder="0" allow="accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture; web-share" referrerpolicy="strict-origin-when-cross-origin" allowfullscreen></iframe>
<br>
</ul>
<h2>Public Repositories:</h2>
<ul>
<li><b> <a href="https://github.com/laurafbec/immutable_explainable_BBR"> GitHub: Immutable & Explainable Black Box Recorder </a>
<li><b> <a href="https://github.com/uleroboticsgroup/nav2_accountability_explainability"> GitHub: Accountability and Explainability: Nav2 </a>
<li><b> <a href="https://github.com/inflfb00/accountability-sysdig-kafka"> GitHub: Accountability using Sysdig y Kafka </a>
<li><b> <a href="https://github.com/Dsobh/explainable_ROS"> GitHub: Explainability in ROS 2 with LLMs </a>
<li><b> <a href="https://github.com/mgonzs13/llama_ros"> GitHub: Llama_ROS y Llava_ROS </a>
<li><b> <a href="https://github.com/inflfb00/accountability-docker-solution"> GitHub: Docker-based accountability solution based on Sysdig, Librdkafka producer, Kafka and MongoDB </a>
<li><b> <a href="https://github.com/DMARCE-PROJECT/rips"> GitHub: RIPS: Robotics Intrusion Prevention System Engine </a> and <a href="https://github.com/DMARCE-PROJECT/ripspy"> monitor</a>
<li><b> <a href="https://github.com/DMARCE-PROJECT/sealfs"> GitHub: SealFSv2 </a> and <a href="https://github.com/DMARCE-PROJECT/rossealfs"> ROS 2 adapter</a>
<li><b> <a href="https://github.com/fjrodl/XRSF"> GitHub: XRSF: eXtended Robotics Security Framework </a>
</ul>
</div>
<div id="about" class="content-region hide">
<h2>About</h2>
<p>
This project is fully funded by Grant DMARCE are EDMAR PID2021-126592OB-C21 and CASCAR PID2021-126592OB-C22 funded by MICIU/AEI/10.13039/501100011033 and "ERDF/EU".
</p>
<h2>Team EDMAR</h2>
<p>
<ul>
<li>Álvarez Aparicio, Claudia
<li>García Sierra, Juan Felipe
<li>Guerrero Higueras, Ángel Manuel
<li>Sanchez González, Lidia
<li>Campazas Vega, Adrian
<li>Fernández Becerra, Laura
<li>González Santamarta, Miguel Ángel
<li>Riego Del Castillo, Virginia
<li>Sobrín Hidalgo, David
<li><b>Matellán Olivera, Vicente (IP) </b>
<li><b>Rodriguez Lera, Francisco J. (IP) </b>
</ul>
</p>
<h2>Team CASCAR</h2>
<p>
<ul>
<li>Gorka Guardiola Múzquiz
<li>José Miguel Guerrero Hernández
<li>Francisco Miguel Moreno Olivo
<li>Miguel Ángel de Miguel Paraíso
<li>Juan Sebastián Cely Gutiérrez
<li>Rodrigo Pérez Rodríguez
<li>Jorge Beltrán de la Cita
<li>Juan Carlos Manzanares Serrano
<li>Juan Diego Peña Narváez
<li>Antonio Alberto García Gómez-Jacinto
<li>Julio Manuel Vega Pérez
<li><b>Francisco Martín Rico (IP) </b>
<li><b>Enrique Soriano Salvador (IP) </b>
</ul>
</p>
</div>
<div id="contact" class="content-region hide">
<h2>Contact</h2>
<p>
<a href="https://robotica.unileon.es/" >
<img src="logos/GR-ule.jpg" >
</a>
<a href="https://robotica.unileon.es/"> Grupo de Robótica - Universidad de León.</a>
</p>
<p>
<a href="https://intelligentroboticslab.gsyc.urjc.es/">
<img src="logos/IRL-urjc.jpg">
</a>
<a href="https://intelligentroboticslab.gsyc.urjc.es/"> Intelligent Robotics Lab - Universidad Rey Juan Carlos.</a>
</p>
</div>
</div>
</div>
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