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BlueSky: Combining Task Planning and Activity-Centric Access Control for Assistive Humanoid Robots

Bayreuther, Saskia 1; Jacob, Florian ORCID iD icon 1; Grotz, Markus 2; Kartmann, Rainer 2; Peller-Konrad, Fabian 2; Paus, Fabian ORCID iD icon 2; Hartenstein, Hannes 1; Asfour, Tamim 2
1 Institut für Informationssicherheit und Verlässlichkeit (KASTEL), Karlsruher Institut für Technologie (KIT)
2 Institut für Anthropomatik und Robotik (IAR), Karlsruher Institut für Technologie (KIT)


In the not too distant future, assistive humanoid robots will provide versatile assistance for coping with everyday life. In their interactions with humans, not only safety, but also security and privacy issues need to be considered. In this Blue Sky paper, we therefore argue that it is time to bring task planning and execution as a well-established field of robotics with access and usage control in the field of security and privacy closer together. In particular, the recently proposed activity-based view on access and usage control provides a promising approach to bridge the gap between these two perspectives. We argue that humanoid robots provide for specific challenges due to their task-universality and their use in both, private and public spaces. Furthermore, they are socially connected to various parties and require policy creation at runtime due to learning. We contribute first attempts on the architecture and enforcement layer as well as on joint modeling, and discuss challenges and a research roadmap also for the policy and objectives layer. We conclude that the underlying combination of decentralized systems' and smart environments' research aspects provides for a rich source of challenges that need to be addressed on the road to deployment.

Postprint §
DOI: 10.5445/IR/1000146728
Veröffentlicht am 14.06.2022
DOI: 10.1145/3532105.3535018
Zitationen: 2
Zitationen: 2
Cover der Publikation
Zugehörige Institution(en) am KIT Institut für Anthropomatik und Robotik (IAR)
Institut für Informationssicherheit und Verlässlichkeit (KASTEL)
Publikationstyp Proceedingsbeitrag
Publikationsjahr 2022
Sprache Englisch
Identifikator ISBN: 978-1-4503-9357-7
KITopen-ID: 1000146728
HGF-Programm 46.23.01 (POF IV, LK 01) Methods for Engineering Secure Systems
Erschienen in SACMAT '22: Proceedings of the 27th ACM on Symposium on Access Control Models and TechnologiesJune 2022, New York NY USA, June 8 - 10, 2022. Ed.: S. Dietrich
Veranstaltung 27th ACM Symposium on Access Control Models and Technologies (SACMAT 2022), New York City, NY, USA, 08.06.2022 – 10.06.2022
Verlag Association for Computing Machinery (ACM)
Seiten 185–194
Projektinformation JuBot (ZEISS-STFG, JuBot)
Vorab online veröffentlicht am 08.06.2022
Schlagwörter access control, usage control, robot task planning, humanoid assistance robotics
Nachgewiesen in Dimensions
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