ConfuSense: Sensor Reconfiguration Attacks for Stealthy UAV Manipulation

Artifact related to the paper "ConfuSense: Sensor Reconfiguration Attacks for Stealthy UAV Manipulation" in the Proceedings of the 2025 USENIX Symposium on Vehicle Security and Privacy (VehicleSec '25)

ardupilot folder

contains the ardupilot modified firmware sources for hardware evaluation

IEMI testbed folder

contains the sources for IEMI injection on the I2C testbed including Figure 7 and Figure 12

local attack testbed folder

contains the sources for local injection on the I2C testbed including Figure 5

crazyflie folder

contains the real-time visualization library of crazyflie sensor readings

crazyflie_firmware folder

contains the modified crazyflie firmware sources for hardware evaluation as seen in the video https://www.youtube.com/watch?v=7vgxqLVDyUA

data_analysis folder

contains the scripts and the data logs for the evaluation including Figure 8, Table 2, Table 3, Table 4, Table 5, Figure 13

detection_eval folder

contains the data and scripts for the comparison with prior work detectors including the reulsts of Section 7.1

attack synthesis folder

contains the code for the attack synthesis framework including Figure 10 and Figure 11

When using the code or the data please cite our work

@inproceedings{Erba2025ConfuSense,
title = {ConfuSense: Sensor Reconfiguration Attacks for Stealthy UAV Manipulation},
author = {Erba, Alessandro and Castellanos, John H. and Sihag, Shail and Zonouz, Saman and Tippenhauer, Nils Ole},
booktitle = {Proceedings of the 2025 USENIX Symposium on Vehicle Security and Privacy (VehicleSec '25)},
year = {2025},
publisher = {USENIX}
}