This paper describes an original methodology for the design of microcontroller-based physical security systems and its application for the system of mobile robots. The novelty of the proposed methodology lies in combining various design algorithms on the basis of abstract and detailed system representations. The suggested design approach, which is based on the methodology, is modular and extensible, takes into account the security of the physical layer of the system, works with the abstract system representation and is looking for a trade-off between the security of the final solution and the resources expended on it. Moreover, unlike existing solutions, the methodology has a strong focus on security. It is aimed at ensuring the protection of the system against attacks at the design stage, considers security components as an integral part of the system and checks if the system can be designed in accordance with given requirements and limitations. An experimental evaluation of the methodology was conducted with help of its software implementation that consists of Python script, PostgreSQL database, Tkinter interface and available for download on our GitHub. As a use case, the system of mobile robots for perimeter monitoring was chosen. During the experimental evaluation, the design time was measured depending on the parameters of the attacker against which system security must be ensured. Moreover, the software implementation of the methodology was analyzed in compliance with requirements and compared with analogues. The advantages and disadvantages of the methodology as well as future work directions are indicated.
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