Honeypots derive much of their value from their ability to fool attackers into believing they're authentic machines. Current cyber-physical system (CPS) honeypots fail to sufficiently capture and simulate behavior that's necessary to project this authenticity. In response, the HoneyPhy framework was developed for CPS honeypots that takes into account behavior originating in the CPS process and devices that make up the CPS itself. HoneyPhy aims to make it possible to construct honeypots for complex CPSs. Here, the authors discuss their implementation of a proof-of-concept for this framework, and show that it's possible to simulate these behaviors in real time.

Executing safe brachiation maneuvers with a cable-suspended underactuated robot is a challenging problem due to the complications induced by the cable dynamics. We present and experimentally implement an online adaptive controller for a wire-borne brachiating robot swinging on a vibrating cable. An adaptive function approximation approach is proposed to estimate the unknown dynamics of the flexible cable as an external force applied to the robot. Robust control Lyapunov and barrier functions are designed and incorporated into quadratic programs to synthesize a unified adaptive control framework, which formally guarantees the stability and safety of the brachiating robot in the presence of dynamic uncertainties, actuator constraints, and obstacles in the environment. The stability analysis and derivation of the adaptation law are carried out through a Lyapunov analysis. We demonstrate and validate the proposed control framework using extensive hardware experiments with an underactuated brachiating robot operating on a flexible cable. Simulation results, hardware experiments, and comparisons with a baseline controller show that the proposed quadratic programming-based controller achieves reliable tracking performance and disturbance estimation in the presence of model uncertainties, actuator limits, and safety constraints.

Autonomous parafoil terminal guidance plays a critical role in landing accuracy but is inherently difficult due to underactuation and path disturbances caused by winds. Terminal path planners must generate flight paths that deliver the parafoil as close as possible to the destination while landing into the wind. This paper presents a novel path-planning scheme capable of highly general trajectory shapes that enable successful path planning from a wide set of initial conditions in constrained three-dimensional environments. The path-planning approach parameterizes the two-point boundary value guidance solution in the form of one or more Bézier curves that connect the current parafoil location with a final approach point downwind of the target. Online nonlinear optimization of curve parameters allows for path regeneration given changing winds. Furthermore, generality of the trajectory shape provides a wide set of initial conditions at which terminal guidance may be initiated in obstacle-constrained scenario...