## 2 Literature Review
### Relation between Communications and Safety in AHS  
AHS systems have prospered in surface mining with outstanding results, which increased the demand to adopt autonomous mining. Manufacturers have placed the greatest emphasis on safety, which is seen as the essence of mining operations. From collisions to high weather temperatures to difficult ground conditions, robotic autonomy has aided in operating in such harsh environments. This can be done either by improving \begin{table}
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**Papers** & **Used Techniques/Technologies** & **Security and Safety Challenges Addressed** & **Advantages** & **Disadvantages** \\ \hline
[6] & Combination of existing standards, e.g., ISO 27000, ISA99 & Existing solutions are focused on safety aspects of AHS applications only & Utilizing well-established standards in different environments & Proposed solution is still immature and has yet to be evaluated in AHS environment \\ \hline
[12] & Combine pre-existing standards to address the complexity of OT environment & Same forms of attacks that occur in the IT world can be observed in the industrial arena. Lack of standardized approach & Some standards are mature and proven to be effective & Standards do not take into consideration the wireless environment within AHS setups. Adopting some practices could be risky as they are not environment specific \\ \hline
[13,14] & & textbfFocus on specific application rather than standardized specifications that were designed to support general purposes & CPS can benefit from a wide range of existing applications in other areas & Manipulating the CPS without systems’ owner knowledge, e.g., MITM attack. Loss of integrity that could result in loss of lives \\ \hline
[15] & Security by design & Physical, network, and computation are three fields that may be exploited & Enforce, Authentication, Authorization, Network Enforced Policy, and Secure Analytics as measures to reinforce security & Approaching cybersecurity problems in an industrial ad hoc manner can lead to misleading findings because generalized attack studies lack the specifics of security objectives \\ \hline
[17] & & Dynamic trust zone where decisions are dynamically made by defining and analysing flows, then intelligently determine whether the flow is permitted & Reises concerns about data privacy and confidentiality, especially in a multivendor environment \\ \hline
[9] & Superior signals extraction to identify targeted GPS attacks & The GPS data must be protected to avoid GPS-based collisions and AIs deviation from the target positions & Practical techniques can figure out vital characteristics of the network such as signal strength & Secure GPS strategies are not considered in intended AHS and need to be investigated further, especially in terms of spoofing and jamming \\ \hline
[21] & Defense Strategies (removable near-infrared-cut filters, and photochromic lenses) & Camera attacks (a blurred camera’s outputs break a safety standard and increase fatal accidents as well) & Photochromic lenses and removable near-infrared cut filters offer sufficient protection from a variety of angles & There are no concrete solutions for camera protection in AIs. Camera attacks can cause inaccurate detections of obstacles, or traffic signs \\ \hline
[22] & Bowtie analysis and attack tree analysis & Cybersecurity impacts safety of mining equipment & Produce an exhaustive representation of risk scenarios. To measure the risk of safety threats, quantitative and qualitative data are required & Data are usually privately owned by manufacturers and are not always available for analysis, which would pose a challenge to conduct such a study \\ \hline \hline \end{tabular}
\end{table} 
Table 1: Summary of literature on cybersecurity and safety. the efficiency or by allowing robots to operate in areas that humans find inoperable. [PERSON] et al.