{"id":"https://openalex.org/W7117583711","doi":"https://doi.org/10.1109/access.2025.3649485","title":"Design and Implementation of ROS2 Security Module for Performance and Security Harmonization","display_name":"Design and Implementation of ROS2 Security Module for Performance and Security Harmonization","publication_year":2025,"publication_date":"2025-12-30","ids":{"openalex":"https://openalex.org/W7117583711","doi":"https://doi.org/10.1109/access.2025.3649485"},"language":null,"primary_location":{"id":"doi:10.1109/access.2025.3649485","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2025.3649485","pdf_url":null,"source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://doi.org/10.1109/access.2025.3649485","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5121538656","display_name":"Jeong Hyeon Park","orcid":null},"institutions":[{"id":"https://openalex.org/I165507594","display_name":"Kangwon National University","ror":"https://ror.org/01mh5ph17","country_code":"KR","type":"education","lineage":["https://openalex.org/I165507594"]}],"countries":["KR"],"is_corresponding":true,"raw_author_name":"Jeong Hyeon Park","raw_affiliation_strings":["Department of Electronics Engineering, Kangwon National University, Chuncheon-si, Gangwon-do, South Korea"],"raw_orcid":"https://orcid.org/0000-0001-5031-1702","affiliations":[{"raw_affiliation_string":"Department of Electronics Engineering, Kangwon National University, Chuncheon-si, Gangwon-do, South Korea","institution_ids":["https://openalex.org/I165507594"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5021330090","display_name":"Hong Seong Park","orcid":"https://orcid.org/0000-0003-4241-2444"},"institutions":[{"id":"https://openalex.org/I165507594","display_name":"Kangwon National University","ror":"https://ror.org/01mh5ph17","country_code":"KR","type":"education","lineage":["https://openalex.org/I165507594"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Hong Seong Park","raw_affiliation_strings":["Department of Electronics Engineering, Kangwon National University, Chuncheon-si, Gangwon-do, South Korea"],"raw_orcid":"https://orcid.org/0000-0003-4241-2444","affiliations":[{"raw_affiliation_string":"Department of Electronics Engineering, Kangwon National University, Chuncheon-si, Gangwon-do, South Korea","institution_ids":["https://openalex.org/I165507594"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5121538656"],"corresponding_institution_ids":["https://openalex.org/I165507594"],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.80584328,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"14","issue":null,"first_page":"1287","last_page":"1296"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11424","display_name":"Security and Verification in Computing","score":0.133200004696846,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11424","display_name":"Security and Verification in Computing","score":0.133200004696846,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12203","display_name":"Mobile Agent-Based Network Management","score":0.11460000276565552,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.1023000031709671,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/security-service","display_name":"Security service","score":0.7152000069618225},{"id":"https://openalex.org/keywords/computer-security-model","display_name":"Computer security model","score":0.5432999730110168},{"id":"https://openalex.org/keywords/encryption","display_name":"Encryption","score":0.5361999869346619},{"id":"https://openalex.org/keywords/communications-security","display_name":"Communications security","score":0.5085999965667725},{"id":"https://openalex.org/keywords/data-security","display_name":"Data security","score":0.49300000071525574},{"id":"https://openalex.org/keywords/security-information-and-event-management","display_name":"Security information and event management","score":0.4648999869823456},{"id":"https://openalex.org/keywords/authentication","display_name":"Authentication (law)","score":0.461899995803833},{"id":"https://openalex.org/keywords/security-testing","display_name":"Security testing","score":0.4284000098705292},{"id":"https://openalex.org/keywords/network-access-control","display_name":"Network Access Control","score":0.4223000109195709},{"id":"https://openalex.org/keywords/cloud-computing-security","display_name":"Cloud computing security","score":0.4124000072479248}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7853000164031982},{"id":"https://openalex.org/C29983905","wikidata":"https://www.wikidata.org/wiki/Q7445066","display_name":"Security service","level":3,"score":0.7152000069618225},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.5461999773979187},{"id":"https://openalex.org/C121822524","wikidata":"https://www.wikidata.org/wiki/Q5157582","display_name":"Computer security model","level":2,"score":0.5432999730110168},{"id":"https://openalex.org/C148730421","wikidata":"https://www.wikidata.org/wiki/Q141090","display_name":"Encryption","level":2,"score":0.5361999869346619},{"id":"https://openalex.org/C151423352","wikidata":"https://www.wikidata.org/wiki/Q5154228","display_name":"Communications security","level":3,"score":0.5085999965667725},{"id":"https://openalex.org/C10511746","wikidata":"https://www.wikidata.org/wiki/Q899388","display_name":"Data security","level":3,"score":0.49300000071525574},{"id":"https://openalex.org/C103377522","wikidata":"https://www.wikidata.org/wiki/Q3493999","display_name":"Security information and event management","level":4,"score":0.4648999869823456},{"id":"https://openalex.org/C148417208","wikidata":"https://www.wikidata.org/wiki/Q4825882","display_name":"Authentication (law)","level":2,"score":0.461899995803833},{"id":"https://openalex.org/C195518309","wikidata":"https://www.wikidata.org/wiki/Q13424265","display_name":"Security testing","level":5,"score":0.4284000098705292},{"id":"https://openalex.org/C14982408","wikidata":"https://www.wikidata.org/wiki/Q11006334","display_name":"Network Access Control","level":4,"score":0.4223000109195709},{"id":"https://openalex.org/C184842701","wikidata":"https://www.wikidata.org/wiki/Q370563","display_name":"Cloud computing security","level":3,"score":0.4124000072479248},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.41100001335144043},{"id":"https://openalex.org/C77290126","wikidata":"https://www.wikidata.org/wiki/Q5283128","display_name":"Distributed System Security Architecture","level":5,"score":0.3919999897480011},{"id":"https://openalex.org/C130881749","wikidata":"https://www.wikidata.org/wiki/Q586894","display_name":"Security association","level":5,"score":0.35989999771118164},{"id":"https://openalex.org/C43214815","wikidata":"https://www.wikidata.org/wiki/Q7310987","display_name":"Reliability (semiconductor)","level":3,"score":0.3560999929904938},{"id":"https://openalex.org/C141492731","wikidata":"https://www.wikidata.org/wiki/Q1052621","display_name":"Message authentication code","level":3,"score":0.3522000014781952},{"id":"https://openalex.org/C62913178","wikidata":"https://www.wikidata.org/wiki/Q7554361","display_name":"Software security assurance","level":4,"score":0.3472000062465668},{"id":"https://openalex.org/C114869243","wikidata":"https://www.wikidata.org/wiki/Q133735","display_name":"Security through obscurity","level":5,"score":0.335099995136261},{"id":"https://openalex.org/C510870077","wikidata":"https://www.wikidata.org/wiki/Q7444868","display_name":"Secure communication","level":3,"score":0.32350000739097595},{"id":"https://openalex.org/C178639896","wikidata":"https://www.wikidata.org/wiki/Q604035","display_name":"Logical security","level":5,"score":0.31040000915527344},{"id":"https://openalex.org/C71745522","wikidata":"https://www.wikidata.org/wiki/Q2476929","display_name":"Confidentiality","level":2,"score":0.3077000081539154},{"id":"https://openalex.org/C178489894","wikidata":"https://www.wikidata.org/wiki/Q8789","display_name":"Cryptography","level":2,"score":0.30720001459121704},{"id":"https://openalex.org/C83163435","wikidata":"https://www.wikidata.org/wiki/Q3954104","display_name":"Security management","level":2,"score":0.2937999963760376},{"id":"https://openalex.org/C123201435","wikidata":"https://www.wikidata.org/wiki/Q456632","display_name":"Information privacy","level":2,"score":0.2935999929904938},{"id":"https://openalex.org/C154908896","wikidata":"https://www.wikidata.org/wiki/Q2167404","display_name":"Security policy","level":2,"score":0.2865000069141388},{"id":"https://openalex.org/C33762810","wikidata":"https://www.wikidata.org/wiki/Q461671","display_name":"Data integrity","level":2,"score":0.2745000123977661},{"id":"https://openalex.org/C38369872","wikidata":"https://www.wikidata.org/wiki/Q7445009","display_name":"Security analysis","level":2,"score":0.26930001378059387},{"id":"https://openalex.org/C527821871","wikidata":"https://www.wikidata.org/wiki/Q228502","display_name":"Access control","level":2,"score":0.26829999685287476},{"id":"https://openalex.org/C77109596","wikidata":"https://www.wikidata.org/wiki/Q4781497","display_name":"Application security","level":5,"score":0.25760000944137573},{"id":"https://openalex.org/C93996380","wikidata":"https://www.wikidata.org/wiki/Q44127","display_name":"Server","level":2,"score":0.2572999894618988},{"id":"https://openalex.org/C527648132","wikidata":"https://www.wikidata.org/wiki/Q189900","display_name":"Information security","level":2,"score":0.25380000472068787},{"id":"https://openalex.org/C29024540","wikidata":"https://www.wikidata.org/wiki/Q1476964","display_name":"Covert channel","level":5,"score":0.251800000667572},{"id":"https://openalex.org/C17886624","wikidata":"https://www.wikidata.org/wiki/Q1320561","display_name":"Key management","level":3,"score":0.2508000135421753}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/access.2025.3649485","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2025.3649485","pdf_url":null,"source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"}],"best_oa_location":{"id":"doi:10.1109/access.2025.3649485","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2025.3649485","pdf_url":null,"source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":13,"referenced_works":["https://openalex.org/W1504695911","https://openalex.org/W1836404726","https://openalex.org/W1982896796","https://openalex.org/W1990395488","https://openalex.org/W2114168752","https://openalex.org/W3216333715","https://openalex.org/W4280571816","https://openalex.org/W4312789621","https://openalex.org/W4320059179","https://openalex.org/W4392797134","https://openalex.org/W4392814335","https://openalex.org/W4396592343","https://openalex.org/W4405785503"],"related_works":[],"abstract_inverted_index":{"The":[0,51],"security":[1,34,55,81,100,176],"of":[2,15,22,53,60,99,167],"the":[3,13,20,23,58,73,97,115,123,138,149,165],"Robot":[4],"Operating":[5],"System":[6],"2":[7],"(ROS2)":[8],"is":[9,181],"crucial":[10],"to":[11,106,127],"ensure":[12],"safety":[14],"individual":[16],"robotic":[17,190],"systems":[18],"and":[19,44,57,92,159,177,180,187],"reliability":[21],"environment":[24],"in":[25,119],"which":[26,78],"they":[27],"operate.":[28],"Although":[29],"Secure":[30],"ROS2":[31,74,80,124,146],"(SROS2)":[32],"enhances":[33,79],"via":[35],"Data":[36],"Distribution":[37],"Service":[38],"Security":[39,75],"for":[40,104,185],"authentication,":[41],"access":[42,143],"control,":[43],"data":[45,129],"encryption,":[46],"it":[47],"has":[48],"several":[49],"limitations.":[50],"complexity":[52],"managing":[54],"artifacts":[56,101],"degradation":[59],"communication":[61,84,151,178],"performance":[62,85,162,179],"are":[63],"two":[64],"primary":[65],"concerns.":[66],"To":[67],"address":[68],"these":[69],"challenges,":[70],"we":[71],"propose":[72],"(ROS2Sec)":[76],"module,":[77],"while":[82,131],"minimizing":[83,132],"degradation.":[86],"ROS2Sec":[87,113,140,174],"introduces":[88],"centralized":[89],"authentication":[90],"management":[91],"group-based":[93],"access-control,":[94],"thus":[95],"reducing":[96],"number":[98,166],"from":[102,144],"seven":[103],"SROS2":[105],"only":[107],"three,":[108],"thereby":[109],"simplifying":[110],"management.":[111],"Additionally,":[112],"employs":[114],"Advanced":[116],"Encryption":[117],"Standard":[118],"Galois/Counter":[120],"Mode":[121],"at":[122],"message":[125],"level":[126],"optimize":[128],"confidentiality":[130],"overhead.":[133],"Experimental":[134],"results":[135],"demonstrate":[136],"that":[137,173],"proposed":[139],"prevents":[141],"unauthorized":[142],"malicious":[145],"nodes,":[147],"reduces":[148],"mean":[150],"latency":[152],"by":[153],"approximately":[154],"9%":[155],"compared":[156],"with":[157],"SROS2,":[158],"maintains":[160],"stable":[161],"even":[163],"as":[164],"subscribers":[168],"increases.":[169],"These":[170],"findings":[171],"confirm":[172],"balances":[175],"a":[182],"practical":[183],"solution":[184],"secure":[186],"efficient":[188],"ROS2-based":[189],"systems.":[191]},"counts_by_year":[],"updated_date":"2026-04-30T09:15:22.047038","created_date":"2025-12-30T00:00:00"}