Related papers: Exploiting Physical Dynamics to Detect Actuator an…
Mobile Manipulation (MoMa) systems incorporate the benefits of mobility and dexterity, due to the enlarged space in which they can move and interact with their environment. However, even when equipped with onboard sensors, e.g., an embodied…
For the time being, mobile devices employ implicit authentication mechanisms, namely, unlock patterns, PINs or biometric-based systems such as fingerprint or face recognition. While these systems are prone to well-known attacks, the…
We introduce a Bayesian system identification (SysID) framework for jointly estimating robot's state trajectories and physical parameters with high accuracy. It embeds physically consistent inverse dynamics, contact and loop-closure…
The rapid development of artificial intelligence, especially deep learning technology, has advanced autonomous driving systems (ADSs) by providing precise control decisions to counterpart almost any driving event, spanning from anti-fatigue…
Intelligent agents need a physical understanding of the world to predict the impact of their actions in the future. While learning-based models of the environment dynamics have contributed to significant improvements in sample efficiency…
Modern vehicles are complex cyber-physical systems made of hundreds of electronic control units (ECUs) that communicate over controller area networks (CANs). This inherited complexity has expanded the CAN attack surface which is vulnerable…
To perform complex tasks, robots must be able to interact with and manipulate their surroundings. One of the key challenges in accomplishing this is robust state estimation during physical interactions, where the state involves not only the…
Networked robotic systems, such as connected vehicle platoons, can improve the safety and efficiency of transportation networks by allowing for high-speed coordination. To enable such coordination, these systems rely on networked…
Robotic manipulation and locomotion often entail nearly-simultaneous collisions -- such as heel and toe strikes during a foot step -- with outcomes that are extremely sensitive to the order in which impacts occur. Robotic simulators…
This paper studies the vehicle bicycle model under three classes of stealthy cyber-attacks: replay attacks, zero dynamics attacks, and covert attacks. Using a system-theoretic framework, we analyze the feasibility and impact of these…
Applications of safety, security, and rescue in robotics, such as multi-robot target tracking, involve the execution of information acquisition tasks by teams of mobile robots. However, in failure-prone or adversarial environments, robots…
Deployment of robotic systems in the real world requires a certain level of robustness in order to deal with uncertainty factors, such as mismatches in the dynamics model, noise in sensor readings, and communication delays. Some approaches…
Recent works investigated attacks on sensors by influencing analog sensor components with acoustic, light, and electromagnetic signals. Such attacks can have extensive security, reliability, and safety implications since many types of the…
The graph exploration problem requires a group of mobile robots, initially placed arbitrarily on the nodes of a graph, to work collaboratively to explore the graph such that each node is eventually visited by at least one robot. One…
A sensor is a device that converts a physical parameter or an environmental characteristic (e.g., temperature, distance, speed, etc.) into a signal that can be digitally measured and processed to perform specific tasks. Mobile robots need…
An intrusion detection system framework using mobile agents is a layered framework mechanism designed to support heterogeneous network environments to identify intruders at its best. Traditional computer misuse detection techniques can…
We present the CyberDiver, an untethered robotic impactor capable of actively modulating the fluid physics during high-speed water entry. First, we utilize the CyberDiver to extend our understanding of the water entry of passively flexible…
Suppose one wants to monitor a domain with sensors, each sensing a small ball-shaped region, but the domain is hazardous enough that one cannot control the placement of the sensors. A prohibitively large number of randomly placed sensors…
Embedded sensing systems are pervasively used in life- and security-critical systems such as those found in airplanes, automobiles, and healthcare. Traditional security mechanisms for these sensors focus on data encryption and other…
Attacks in cyber-physical systems (CPS) which manipulate sensor readings can cause enormous physical damage if undetected. Detection of attacks on sensors is crucial to mitigate this issue. We study supervised regression as a means to…