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後量子密碼學在機器人作業系統中的應用 : 基於WireGuard的安全通訊架構設計與效能評估 = Application of Post-Quantum Cryptography in the Robot Operating System : Design and Performance Evaluation of a WireGuard-Based Secure Communication Architecture / 李孟修.

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摘要註

機器人作業系統（ROS）廣泛應用於國防、醫療等關鍵領域，但其原生通訊因缺乏加密而易受攻擊。傳統VPN雖能提供保護，卻面臨效能瓶頸與未來量子電腦的破解威脅，構成雙重挑戰。為此，本研究提出一個整合後量子密碼學（PQC）的安全通訊架構。我們將美國國家標準暨技術研究院（NIST）標準化的ML-KEM演算法，整合至高效能的WireGuard VPN協定中，以建構一個能抵禦量子攻擊的安全通訊隧道。 本架構的核心貢獻在於其非侵入式的設計。透過在網路閘道器部署PQC強化服務並結合系統路由設定，能為既有ROS系統提供透明的安全保護，無需修改任何應用程式碼。我們在以TurtleBot3機器人與嵌入式開發板為基礎的平台上，透過比較無VPN、傳統WireGuard及PQC-WireGuard三種情境，從網路吞吐量、通訊延遲與CPU使用率等指標，系統性地評估此架構的效能。本研究旨在量化PQC引入後的效能開銷並分析安全性與效能的權衡，為廣大既有ROS系統提供一個實用、易於部署的抗量子安全方案，並為PQC在資源受限的機器人與物聯網領域應用提供關鍵的實證數據。 為應對現代機器人系統的需求，本研究進一步將此安全框架擴展至ROS 2平台。針對ROS 2原生安全機制SROS2在高頻寬數據傳輸時的效能權衡問題，我們提出了一種結合傳輸層PQC-WireGuard與應用層PQC-Sign/Verify的混合式縱深防禦架構。透過實作FIPS 204 ML-DSA簽章節點，本研究在不全面加密高頻寬影像流的前提下，成功為關鍵控制指令提供了細顆粒度的來源鑑別與完整性保護。 關鍵字：後量子密碼學、機器人作業系統、WireGuard、ML-KEM、ML-DSA、安全通訊. The Robot Operating System (ROS) lacks native encryption, and tradi-tional VPNs often introduce performance bottlenecks while remaining vul-nerable to quantum threats. To address these issues, this study proposes a hy-brid post-quantum cryptography (PQC) architecture for both legacy ROS 1 and modern ROS 2 systems. For ROS 1, we integrated the NIST-standardized ML-KEM (FIPS 203) in-to WireGuard, creating a transparent, non-invasive secure tunnel without re-quiring code modifications. For ROS 2, to mitigate the high resource cost of SROS2 encryption on high-bandwidth data, we developed an applica-tion-layer security scheme using ML-DSA (FIPS 204) signature nodes. This approach provides fine-grained authentication for critical commands while leaving high-bandwidth sensor data unencrypted to preserve system resources. Evaluations on embedded platforms show that the PQC-WireGuard tunnel maintains sub-millisecond latency. Meanwhile, the ROS 2 signature nodes se-cure critical commands with minimal latency increase (~3.5 ms), successfully avoiding the significant CPU overhead of full SROS2 encryption. This study delivers a practical, defense-in-depth PQC solution balancing quantum re-sistance with real-time performance. Keywords: Post-Quantum Cryptography, Robot Operating System, Wire-Guard, ML-KEM, ML-DSA, Secure Communication.

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