Related papers: Attack-Aware Multi-Sensor Integration Algorithm fo…
This paper explores the detection and localization of cyber-attacks on time-series measurements data in power systems, focusing on comparing conventional machine learning (ML) like k-means, deep learning method like autoencoder, and graph…
Autonomous vehicles have gained significant attention due to technological advancements and their potential to transform transportation. A critical challenge in this domain is precise localization, particularly in LiDAR-based map matching,…
A novel probabilistic perception algorithm is presented as a real-time joint solution to data association, object tracking, and object classification for an autonomous ground vehicle in all-weather conditions. The presented algorithm…
One of the key challenges towards the reliable operation of cyber-physical systems (CPS) is the threat of cyberattacks on system actuation signals and measurements. In recent years, system theoretic research has focused on effectively…
Malicious activities on measurements from sensors like Phasor Measurement Units (PMUs) can mislead the control center operator into taking wrong control actions resulting in disruption of operation, financial losses, and equipment damage.…
Cooperative Adaptive Cruise Control (CACC) is an autonomous vehicle-following technology that allows groups of vehicles on the highway to form in tightly-coupled platoons. This is accomplished by exchanging inter-vehicle data through…
A Connected Autonomous Vehicle (CAV) platoon in an evolving real-world driving environment relies strongly on accurate vehicle-to-vehicle (V2V) and vehicle-to-infrastructure (V2I) communication for its safe and efficient operation. However,…
The ability to detect when a system undergoes an incipient fault is of paramount importance in preventing a critical failure. Classic methods for fault detection (including model-based and data-driven approaches) rely on thresholding error…
Autonomous driving holds great promise in addressing traffic safety concerns by leveraging artificial intelligence and sensor technology. Multi-Object Tracking plays a critical role in ensuring safer and more efficient navigation through…
Dynamic watermarking, as an active intrusion detection technique, can potentially detect replay attacks, spoofing attacks, and deception attacks in the feedback channel for control systems. In this paper, we develop a novel dynamic…
Remote state estimation in cyber-physical systems is often vulnerable to cyber-attacks due to wireless connections between sensors and computing units. In such scenarios, adversaries compromise the system by injecting false data or blocking…
This paper proposes a novel approach by integrating sensor fusion with deep reinforcement learning, specifically the Soft Actor-Critic (SAC) algorithm, to develop an optimal control policy for self-driving cars. Our system employs a…
Herein, design of false data injection attack on a distributed cyber-physical system is considered. A stochastic process with linear dynamics and Gaussian noise is measured by multiple agent nodes, each equipped with multiple sensors. The…
This paper presents a novel filter with low computational demand to address the problem of orientation estimation of a robotic platform. This is conventionally addressed by extended Kalman filtering of measurements from a sensor suit which…
The optimal disturbance rejection control problem is considered for consensus tracking systems affected by external persistent disturbances and noise. Optimal estimated values of system states are obtained by recursive filtering for the…
Industrial Information Technology (IT) infrastructures are often vulnerable to cyberattacks. To ensure security to the computer systems in an industrial environment, it is required to build effective intrusion detection systems to monitor…
Countries with access to large bodies of water often aim to protect their maritime transport by employing maritime surveillance systems. However, the number of available sensors (e.g., cameras) is typically small compared to the…
We propose a real-time hybrid controller scheme to detect and mitigate False-Data Injection (FDI) attacks on Cooperative Adaptive Cruise Control (CACC). Our method uses sensor redundancy to create equivalent controller realizations, each…
In-flight sensor fault diagnosis and recursive combination of residual signals via the Dempster-Shafer (DS) theory have been considered in this study. In particular, a novel evidence-based combination rule of residual errors as a function…
3D multi-object tracking is a key module in autonomous driving applications that provides a reliable dynamic representation of the world to the planning module. In this paper, we present our on-line tracking method, which made the first…