RAVAGE: Robotic Autonomous Vehicles' Attack Generation Engine

RAVAGE is an attack injection tool that enables realistic physical attacks (e.g., GPS spoofing, gyroscope and accelerometer tampering) on robotic autonomous vehicles (RAVs) such as drones and rovers. RAVAGE is designed to be:

• Extensible: Easily integrates with multiple autopilot software platforms (e.g., ArduPilot, PX4).
• Configurable: Allows fine-tuning of attack parameters (e.g., duration, intensity) without modifying autopilot code.
• Non-invasive: Supports seamless attack injection in both virtual and real RAV environments.

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Key Features

• Accurately emulates physical attacks via software.
• Seamless integration with both virtual and real RAV systems.
• Compatible with multiple RAV platforms and vehicle types.

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Supported Tools

RAVAGE has been tested with both drones and rovers using the following autopilot systems:

• ArduPilot
• PX4

PX4 supports Gazebo and JSBSim for simulation. We also recommend installing QGroundControl.

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Running RAVAGE

There are two ways to run RAVAGE:

1. Install the required tools manually (recommended for experienced users).
2. Use our pre-configured Ubuntu VM for easier setup (recommended for quick deployment).

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Prerequisites

Ensure you have the following dependencies:

• Python 3.X
• pymavlink
• yaml

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Setup Instructions

1. Configure Autopilot Settings

Edit the configuration file ./config/autopilot_config.yaml to specify your environment:

RAVAGE_HOME: "/path/to/ravage/home/"
ARDUPILOT_HOME: "/path/to/ardupilot/home/"
PX4_HOME: "/path/to/px4/home/"
WAYPOINT_FILE: "square_copter.txt"
ROVER: "No"
COPTER: "Yes"

Parameters:

• RAVAGE_HOME: Path to the RAVAGE project home.
• ARDUPILOT_HOME: Path to the ArduPilot installation.
• PX4_HOME: Path to the PX4 installation.
• WAYPOINT_FILE: File containing mission waypoints.
• ROVER: Set to Yes for rover simulation, otherwise No.
• COPTER: Set to Yes for copter simulation, otherwise No.

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2. Configure Attack Profiles

Define the attack parameters in ./config/attack_profile.yaml to specify attack types, intensity, and duration.

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3. Launch Autopilot and Simulator

Run the following command to start the autopilot and set waypoints:

python mission.py -s ArduPilot

Options:

• -s: Specify the autopilot system (ArduPilot | PX4)

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4. Launch and Configure Sensor Attacks

Use the following command to inject attacks:

python ravage.py -s <autopilot> -a <attack_type> -i <intensity> -d <duration>

Options:

• -s, --autopilot: Autopilot software (ArduPilot | PX4)
• -a, --attack_type: Attack type (GPS | GYRO | MAG | OPTICAL_FLOW | ACCELEROMETER)
• -i, --intensity: Attack intensity (float value)
• -d, --duration: Attack duration (integer value)

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Example Workflow

1. Edit the configuration files (autopilot_config.yaml and attack_profile.yaml).
2. Start the simulation and set waypoints:

python mission.py -s ArduPilot

3. Inject a GPS spoofing attack with intensity 3:

python ravage.py -s ArduPilot -a GPS -i 3

This example initializes the simulation, sets mission waypoints, and performs a GPS spoofing attack during the mission.

Citation

If you find our work useful in your research, please consider citing:

@inproceedings{dash2025ravage,
      title={RAVAGE: Robotic Autonomous Vehicles' Attack Generation Engine}, 
      author={Dash, Pritam and Pattabiraman, Karthik},
      booktitle = {The 55th Annual IEEE/IFIP International Conference on Dependable Systems and Networks (DSN)},
      year={2025}
}