Secure and Efficient Data Encryption for Internet of Robotic Things via Chaos-Based Ascon

Abstract

The increasing adoption of digital technologies, robotic systems, and IoT applications in sectors such as medicine, agriculture, and industry drives a surge in data generation and necessitates secure and efficient encryption. For resource-constrained systems, lightweight yet robust cryptographic algorithms are critical. This study addresses the security demands of IoRT systems by proposing an enhanced chaos-based encryption method. The approach integrates the lightweight structure of NIST-standardized Ascon-AEAD128 with the randomness of the Zaslavsky map. Ascon-AEAD128 is widely used on many hardware platforms; therefore, it must robustly resist both passive and active attacks. To overcome these challenges and enhance Ascon’s security, we integrate into Ascon the keys and nonces generated by the Zaslavsky chaotic map, which is deterministic, nonperiodic, and highly sensitive to initial conditions and parameter variations.This integration yields a chaos-based Ascon variant with a higher encryption security relative to the standard Ascon. In addition, we introduce exploratory variants that inject non-repeating chaotic values into the initialization vectors (IVs), the round constants (RCs), and the linear diffusion constants (LCs), while preserving the core permutation. Real-time tests are conducted using Raspberry Pi 3B devices and ROS 2–based IoRT robots. The algorithm’s performance is evaluated over 100 encryption runs on 12 grayscale/color images and variable-length text transmitted via MQTT. Statistical and differential analyses—including histogram, entropy, correlation, chi-square, NPCR, UACI, MSE, MAE, PSNR, and NIST SP 800-22 randomness tests—assess the encryption strength. The results indicate that the proposed method delivers consistent improvements in randomness and uniformity over standard Ascon-AEAD128, while remaining comparable to state-of-the-art chaotic encryption schemes across standard security metrics. These findings suggest that the algorithm is a promising option for resource-constrained IoRT applications.