Related papers: Adversarial patrolling with spatially uncertain al…

This paper studies the problem of secure state estimation of a linear time-invariant (LTI) system with bounded noise in the presence of sparse attacks on an unknown, time-varying set of sensors. In other words, at each time, the attacker…

This paper studies a stochastic robotic surveillance problem where a mobile robot moves randomly on a graph to capture a potential intruder that strategically attacks a location on the graph. The intruder is assumed to be omniscient: it…

Coordinating agents through hazardous environments, such as aid-delivering drones navigating conflict zones or field robots traversing deployment areas filled with obstacles, poses fundamental planning challenges. We introduce and analyze…

We consider the probabilistic planning problem for a defender (P1) who can jointly query the sensors and take control actions to reach a set of goal states while being aware of possible sensor attacks by an adversary (P2) who has perfect…

Machine learning algorithms are effective in several applications, but they are not as much successful when applied to intrusion detection in cyber security. Due to the high sensitivity to their training data, cyber detectors based on…

This paper proposes a game-theoretic method to address the problem of optimal detector placement in a networked control system under cyber-attacks. The networked control system is composed of interconnected agents where each agent is…

We investigate the problem of optimally assigning a large number of robots (or other types of autonomous agents) to guard the perimeters of closed 2D regions, where the perimeter of each region to be guarded may contain multiple disjoint…

This paper aims to put forward the concept that learning to take safe actions in unknown environments, even with probability one guarantees, can be achieved without the need for an unbounded number of exploratory trials, provided that one…

This paper addresses the problem of distributed resilient state estimation and control for linear time-invariant systems in the presence of malicious false data injection sensor attacks and bounded noise. We consider a system operator…

In cyber-physical systems, malicious and resourceful attackers could penetrate the system through cyber means and cause significant physical damage. Consequently, detection of such attacks becomes integral towards making these systems…

This paper studies a variant of the multi-player reach-avoid game played between intruders and defenders with applications to perimeter defense. The intruder team tries to score by sending as many intruders as possible to the target area,…

Cyber-physical systems can be subject to sensor attacks, e.g., sensor spoofing, leading to unsafe behaviors. This paper addresses this problem in the context of linear systems when an omniscient attacker can spoof several system sensors at…

We present an approach for safe motion planning under robot state and environment (obstacle and landmark location) uncertainties. To this end, we first develop an approach that accounts for the landmark uncertainties during robot…

Security games model strategic interactions in adversarial real-world applications. Such applications often involve extremely large but highly structured strategy sets (e.g., selecting a distribution over all patrol routes in a given…

This work addresses the challenge of patrolling regular grid graphs of any dimension using a single mobile agent with minimal memory and limited sensing range. We show that it is impossible to patrol some grid graphs with $0$ bits of…

This paper addresses the problem of optimal defense of a High Value Unit against a large-scale swarm attack. We show that the problem can be cast in the framework of uncertain parameter optimal control and derive a consistency result for…

We introduce a pursuit game played between a team of a sensor and an attacker and a mobile target in the unbounded Euclidean plane. The target is faster than the sensor, but slower than the attacker. The sensor's objective is to keep the…

Patrolling Games were introduced by Alpern, Morton and Papadaki (2011) to model the adversarial problem where a mobile Patroller can thwart an attack at some location only by visiting it during the attack period, which has a prescribed…

We address the problem of attack detection and attack correction for multi-output discrete-time linear time-invariant systems under sensor attack. More specifically, we focus on the situation where adversarial attack signals are added to…

We investigate the problem of monitoring multiple targets using a single mobile sensor, with the goal of minimizing the maximum estimation error among all the targets over long time horizons. The sensor can move in a network-constrained…