Related papers: Attack-Aware Multi-Sensor Integration Algorithm fo…
Autonomous platforms require accurate positioning to complete their tasks. To this end, a Kalman filter-based algorithms, such as the extended Kalman filter or invariant Kalman filter, utilizing inertial and external sensor fusion are…
The unscented Kalman filter is an algorithm capable of handling nonlinear scenarios. Uncertainty in process noise covariance may decrease the filter estimation performance or even lead to its divergence. Therefore, it is important to adjust…
This paper proposes a method for tight fusion of visual, depth and inertial data in order to extend robotic capabilities for navigation in GPS-denied, poorly illuminated, and texture-less environments. Visual and depth information are fused…
For effective autonomous navigation,estimation of the pose of the robot is essential at every sampling time. For computing an accurate estimation,odometric error needs to be reduced with the help of data from external sensor. In this work,…
When faulty sensors are rare in a network, diagnosing sensors individually is inefficient. This study introduces a novel use of concepts from group testing and Kalman filtering in detecting these rare faulty sensors with significantly fewer…
In the field of sensor fusion and state estimation for object detection and localization, ensuring accurate tracking in dynamic environments poses significant challenges. Traditional methods like the Kalman Filter (KF) often fail when…
This paper considers a resilient state estimation framework for unmanned aerial vehicles (UAVs) that integrates a Kalman filter-like state estimator and an attack detector. When an attack is detected, the state estimator uses only IMU…
This paper addresses the secure state estimation problem for continuous linear time-invariant systems with non-periodic and asynchronous sampled measurements, where the sensors need to transmit not only measurements but also sampling…
High-speed, low-latency obstacle avoidance that is insensitive to sensor noise is essential for enabling multiple decentralized robots to function reliably in cluttered and dynamic environments. While other distributed multi-agent collision…
This paper presents a sensor fusion based Global Navigation Satellite System (GNSS) spoofing attack detection framework for autonomous vehicles (AV) that consists of two concurrent strategies: (i) detection of vehicle state using predicted…
Target tracking using observations from multiple sensors can achieve better estimation performance than a single sensor. The most famous estimation tool in target tracking is Kalman filter. There are several mathematical approaches to…
Autonomous and connected vehicles are rapidly evolving, integrating numerous technologies and software. This progress, however, has made them appealing targets for cybersecurity attacks. As the risk of cyber threats escalates with this…
This paper presents a novel method for pedestrian detection and tracking by fusing camera and LiDAR sensor data. To deal with the challenges associated with the autonomous driving scenarios, an integrated tracking and detection framework is…
The accuracy and robustness of vehicle localization are critical for achieving safe and reliable high-level autonomy. Recent results show that GPS is vulnerable to spoofing attacks, which is one major threat to autonomous driving. In this…
Connected and Automated Vehicles (CAVs) rely on the correctness of position and other vehicle kinematics information to fulfill various driving tasks such as vehicle following, lane change, and collision avoidance. However, a malicious…
Large scale monitoring systems enable efficient field level data collection at high temporal and spatial resolutions. One example is the deployment of such systems in pipeline infrastructure applications which have to be monitored for leaks…
With the advent of vehicles equipped with advanced driver-assistance systems, such as adaptive cruise control (ACC) and other automated driving features, the potential for cyberattacks on these automated vehicles (AVs) has emerged. While…
To control structural responses under various actions, the growing use of supplementary damping systems in modern civil engineering structures necessitates inspecting and evaluating their operational performance postinstallation. However,…
We develop joint vehicle tracking and road side unit (RSU) selection algorithms suitable for vehicle-to-infrastructure (V2I) communications. We first design an analytical framework for evaluating vehicle tracking systems based on the…
Typical cooperative multi-agent systems (MASs) exchange information to coordinate their motion in proximity-based control consensus schemes to complete a common objective. However, in the event of faults or cyber attacks to on-board…