{"id":"https://openalex.org/W7077495856","doi":"https://doi.org/10.48550/arxiv.2508.15865","title":"Securing Swarms: Cross-Domain Adaptation for ROS2-based CPS Anomaly Detection","display_name":"Securing Swarms: Cross-Domain Adaptation for ROS2-based CPS Anomaly Detection","publication_year":2025,"publication_date":"2025-08-20","ids":{"openalex":"https://openalex.org/W7077495856","doi":"https://doi.org/10.48550/arxiv.2508.15865"},"language":"en","primary_location":{"id":"doi:10.48550/arxiv.2508.15865","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2508.15865","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2508.15865","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":null,"display_name":"Boone, Julia","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Boone, Julia","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":null,"display_name":"Afghah, Fatemeh","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Afghah, Fatemeh","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":true,"primary_topic":{"id":"https://openalex.org/T12157","display_name":"Geochemistry and Geologic Mapping","score":0.6624000072479248,"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/T12157","display_name":"Geochemistry and Geologic Mapping","score":0.6624000072479248,"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/T13067","display_name":"Geological Modeling and Analysis","score":0.02669999934732914,"subfield":{"id":"https://openalex.org/subfields/1906","display_name":"Geochemistry and Petrology"},"field":{"id":"https://openalex.org/fields/19","display_name":"Earth and Planetary Sciences"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T14311","display_name":"Electrical and Electromagnetic Research","score":0.020500000566244125,"subfield":{"id":"https://openalex.org/subfields/3107","display_name":"Atomic and Molecular Physics, and Optics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/intrusion-detection-system","display_name":"Intrusion detection system","score":0.7210000157356262},{"id":"https://openalex.org/keywords/anomaly-detection","display_name":"Anomaly detection","score":0.6654000282287598},{"id":"https://openalex.org/keywords/adaptation","display_name":"Adaptation (eye)","score":0.5123000144958496},{"id":"https://openalex.org/keywords/anomaly-based-intrusion-detection-system","display_name":"Anomaly-based intrusion detection system","score":0.5037000179290771},{"id":"https://openalex.org/keywords/cyber-physical-system","display_name":"Cyber-physical system","score":0.48559999465942383},{"id":"https://openalex.org/keywords/variety","display_name":"Variety (cybernetics)","score":0.37790000438690186}],"concepts":[{"id":"https://openalex.org/C35525427","wikidata":"https://www.wikidata.org/wiki/Q745881","display_name":"Intrusion detection system","level":2,"score":0.7210000157356262},{"id":"https://openalex.org/C739882","wikidata":"https://www.wikidata.org/wiki/Q3560506","display_name":"Anomaly detection","level":2,"score":0.6654000282287598},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6607999801635742},{"id":"https://openalex.org/C139807058","wikidata":"https://www.wikidata.org/wiki/Q352374","display_name":"Adaptation (eye)","level":2,"score":0.5123000144958496},{"id":"https://openalex.org/C137524506","wikidata":"https://www.wikidata.org/wiki/Q2247688","display_name":"Anomaly-based intrusion detection system","level":3,"score":0.5037000179290771},{"id":"https://openalex.org/C179768478","wikidata":"https://www.wikidata.org/wiki/Q1120057","display_name":"Cyber-physical system","level":2,"score":0.48559999465942383},{"id":"https://openalex.org/C136197465","wikidata":"https://www.wikidata.org/wiki/Q1729295","display_name":"Variety (cybernetics)","level":2,"score":0.37790000438690186},{"id":"https://openalex.org/C12997251","wikidata":"https://www.wikidata.org/wiki/Q567560","display_name":"Anomaly (physics)","level":2,"score":0.36730000376701355},{"id":"https://openalex.org/C36503486","wikidata":"https://www.wikidata.org/wiki/Q11235244","display_name":"Domain (mathematical analysis)","level":2,"score":0.367000013589859},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.31679999828338623},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.31150001287460327},{"id":"https://openalex.org/C182590292","wikidata":"https://www.wikidata.org/wiki/Q989632","display_name":"Network security","level":2,"score":0.3012999892234802},{"id":"https://openalex.org/C158251709","wikidata":"https://www.wikidata.org/wiki/Q354025","display_name":"Intrusion","level":2,"score":0.2766000032424927},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.27480000257492065},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.26829999685287476}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2508.15865","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2508.15865","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2508.15865","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2508.15865","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Cyber-physical":[0],"systems":[1,70],"(CPS)":[2],"are":[3,72,184],"being":[4],"increasingly":[5],"utilized":[6],"for":[7,32,129],"critical":[8],"applications.":[9],"CPS":[10,48,62,78,116,125,156,165,197],"combines":[11,169],"sensing":[12],"and":[13,23,43,57,90,174,196,203],"computing":[14],"elements,":[15],"often":[16,88],"having":[17],"multi-layer":[18],"designs":[19],"with":[20,29,199],"networking,":[21],"computational,":[22],"physical":[24,42],"interfaces,":[25],"which":[26,77],"provide":[27],"them":[28],"enhanced":[30],"capabilities":[31],"a":[33,150,155,163],"variety":[34],"of":[35,41,61,85,190],"application":[36],"scenarios.":[37],"However,":[38],"the":[39,58,83,97,127,188],"combination":[40],"computational":[44],"elements":[45],"also":[46],"makes":[47],"more":[49],"vulnerable":[50],"to":[51,54,109,144,154,186,206],"attacks":[52,63,99,123],"compared":[53],"network-only":[55],"systems,":[56],"resulting":[59],"impacts":[60],"can":[64,79,121],"be":[65,80],"substantial.":[66],"Intelligent":[67],"intrusion":[68,166],"detection":[69,118,210],"(IDS)":[71],"an":[73,114],"effective":[74],"mechanism":[75],"by":[76],"secured,":[81],"but":[82],"majority":[84],"current":[86],"solutions":[87],"train":[89],"validate":[91,159],"on":[92,103],"network":[93,151,194],"traffic-only":[94,152,195],"datasets,":[95],"ignoring":[96],"distinct":[98,200],"that":[100,120,141,168],"may":[101],"occur":[102],"other":[104,208],"system":[105,172],"layers.":[106],"In":[107],"order":[108],"address":[110],"this,":[111,135],"we":[112,136,183],"develop":[113],"adaptable":[115],"anomaly":[117,209],"model":[119,192],"detect":[122],"within":[124],"without":[126],"need":[128],"previously":[130],"labeled":[131],"data.":[132,179],"To":[133],"achieve":[134],"utilize":[137],"domain":[138],"adaptation":[139],"techniques":[140],"allow":[142],"us":[143],"transfer":[145],"known":[146],"attack":[147,201],"knowledge":[148],"from":[149],"environment":[153],"environment.":[157],"We":[158],"our":[160,191],"approach":[161],"using":[162],"state-of-the-art":[164],"dataset":[167],"network,":[170],"operating":[171],"(OS),":[173],"Robot":[175],"Operating":[176],"System":[177],"(ROS)":[178],"Through":[180],"this":[181],"dataset,":[182],"able":[185],"demonstrate":[187],"effectiveness":[189],"across":[193],"environments":[198],"types":[202],"its":[204],"ability":[205],"outperform":[207],"methods.":[211]},"counts_by_year":[],"updated_date":"2026-07-28T07:46:37.118299","created_date":"2025-10-10T00:00:00"}