We present R2U2, a novel framework for runtime monitoring of security properties and
diagnosing of security threats on-board Unmanned Aerial Systems (UAS). R2U2,
implemented in FPGA hardware, is a real-time, Realizable, Responsive, Unobtrusive Unit for
security threat detection. R2U2 is designed to continuously monitor inputs from the GPS and
the ground control station, sensor readings, actuator outputs, and flight software status. By
simultaneously monitoring and performing statistical reasoning, attack patterns and post …

We present R2U2, a novel framework for runtime monitoring of security properties and
diagnosing of security threats on-board Unmanned Aerial Systems (UAS). R2U2,
implemented in FPGA hardware, is a real-time, Realizable, Responsive, Unobtrusive Unit for
runtime system analysis, now including security threat detection. R2U2 is designed to
continuously monitor inputs from on-board components such as the GPS, the ground control
station, other sensor readings, actuator outputs, and flight software status. By simultaneously …