Multi-modal dataset for industrial cyber-security research within mobile robotic domain

This dataset was generated within the Laboratory for Industrial Robotics and Artificial Intelligence at the University of Belgrade Faculty of Mechanical Engineering. It consists of RGB, depth, images, 2D lidar scans, IMU and odometry data acquired using the mobile robot PAL Tiago in the indoor environment. Approximately 2,400 sequential synchronized data points for all sensors are generated with varying torso heights, driving velocities, and camera inclination angles. The dataset is intended for use in industrial cybersecurity research. The data represents the nominal PAL Tiago working condition (without any cyber-attacks), and can be used to train deep learning models for the recognition of nominal behavior.