Related papers: Attack-Aware Multi-Sensor Integration Algorithm fo…

In multi-sensor data fusion (or sensor fusion), sensor biases (or offsets) often affect the accuracy of the correlation and integration results of the tracking targets. Therefore, to estimate and compensate the bias, several methods are…

Current state-of-the-art autonomous driving vehicles mainly rely on each individual sensor system to perform perception tasks. Such a framework's reliability could be limited by occlusion or sensor failure. To address this issue, more…

With recent advances in autonomous driving, Voice Control Systems have become increasingly adopted as human-vehicle interaction methods. This technology enables drivers to use voice commands to control the vehicle and will be soon available…

In this paper we investigate the design of an active fault tolerant control system applicable to autonomous flight. The system comprises a nonlinear model predictive based controller integrated with an unscented Kalman filter for fault…

We present a system for the boresighting of sensors using inertial measurement devices as the basis for developing a range of dynamic real-time sensor fusion applications. The proof of concept utilizes a COTS FPGA platform for sensor fusion…

This paper presents a coupled, neural network-aided longitudinal cruise and lateral path-tracking controller for an autonomous vehicle with model uncertainties and experiencing unknown external disturbances. Using a feedback error learning…

We propose a novel framework for designing a resilient Model Predictive Control (MPC) targeting uncertain linear systems under cyber attack. Assuming a periodic attack scenario, we model the system under Denial of Service (DoS) attack, also…

Modern autonomous navigation for unmanned ground vehicles relies on different estimators to fuse inertial sensors and GNSS measurements. However, the constant noise covariance matrices often struggle to account for dynamic real-world…

The problem of faulty sensor detection is investigated in large sensor networks where the sensor faults are sparse and time-varying, such as those caused by attacks launched by an adversary. Group testing and the Kalman filter are designed…

This paper reports an attempt to model the system dynamics and estimate both the unknown internal control input and the state of a recently developed marine autonomous vehicle, the Jaiabot. Although the Jaiabot has shown promise in many…

In this paper we propose a novel observer-based method to improve the safety and security of connected and automated vehicle (CAV) transportation. The proposed method combines model-based signal filtering and anomaly detection methods.…

The fusion between an inertial navigation system and global navigation satellite systems is regularly used in many platforms such as drones, land vehicles, and marine vessels. The fusion is commonly carried out in a model-based extended…

This paper presents Lidar-based Simultaneous Localization and Mapping (SLAM) for autonomous driving vehicles. Fusing data from landmark sensors and a strap-down Inertial Measurement Unit (IMU) in an adaptive Kalman filter (KF) plus the…

This paper presents a novel method for estimating the number of vehicles traveling along signalized approaches using probe vehicle data only. The proposed method uses the Kalman Filtering technique to produce reliable vehicle count…

The problem of detecting replay attack to the linear stochastic system with Kalman filer state estimator and LQG controller is addressed. To this end, a dynamic attack detector method is proposed which is coupled with the dynamics of the…

In the coming years, usage of Unmanned Aerial Vehicles (UAVs) is expected to grow tremendously. Maintaining security of UAVs under cyber attacks is an important yet challenging task, as these attacks are often erratic and difficult to…

Collaborative filtering has been widely used in recommendation systems to recommend items that users might like. However, collaborative filtering based recommendation systems are vulnerable to shilling attacks. Malicious users tend to…

This paper develops a new active fault tolerant control system based on the concept of analytical redundancy. The novel design consists of an observation filter based fault detection and identification system integrated with a nonlinear…

This paper proposes a distributed cyber-attack detection method in communication channels for a class of discrete, nonlinear, heterogeneous, multi-agent systems that are controlled by our proposed formation-based controller. A…

Connectivity in connected and autonomous vehicles (CAVs) introduces vulnerability to cyber threats such as false data injection (FDI) attacks, which can compromise system reliability and safety. To ensure resilience, this paper proposes a…