Related papers: Attack-Aware Multi-Sensor Integration Algorithm fo…
In this paper, secure, remote estimation of a linear Gaussian process via observations at multiple sensors is considered. Such a framework is relevant to many cyber-physical systems and internet-of-things applications. Sensors make…
Control Area Network (CAN) is an essential communication protocol that interacts between Electronic Control Units (ECUs) in the vehicular network. However, CAN is facing stringent security challenges due to innate security risks. Intrusion…
This paper describes a resilient navigation and planning system used in the Indy Autonomous Challenge (IAC) competition. The IAC is a competition where full-scale race cars run autonomously on Indianapolis Motor Speedway(IMS) up to 290 km/h…
Self-assessment is a key to safety and robustness in automated driving. In order to design safer and more robust automated driving functions, the goal is to self-assess the performance of each module in a whole automated driving system. One…
As connected and autonomous vehicles proliferate, the Controller Area Network (CAN) bus has become the predominant communication standard for in-vehicle networks due to its speed and efficiency. However, the CAN bus lacks basic security…
Road intersections are widely recognized as a lead cause for accidents and traffic delays. In a future scenario with a significant adoption of Cooperative Autonomous Vehicles, solutions based on fully automatic, signage-less Intersection…
This paper addresses the problem of traffic prediction and control of autonomous vehicles on highways. A modified Interacting Multiple Model Kalman filter algorithm is applied to predict the motion behavior of the traffic participants by…
This paper presents a novel distributed vehicle platooning control and coordination strategy. We propose a distributed predecessor-follower CACC scheme that allows to choose an arbitrarily small inter-vehicle distance while guaranteeing no…
The accurate navigation of autonomous underwater vehicles critically depends on the precision of Doppler velocity log (DVL) velocity measurements. Recent advancements in deep learning have demonstrated significant potential in improving DVL…
Intelligent vehicles in autonomous driving and obstacle avoidance, the precise relative state of vehicles put forward a higher demand. For a vehicle-borne sensor network with time-varying transmission delays, the problem of coordinate…
Kalman filtering can provide an optimal estimation of the system state from noisy observation data. This algorithm's performance depends on the accuracy of system modeling and noise statistical characteristics, which are usually challenging…
This paper considers a sensor attack and fault detection problem for linear cyber-physical systems, which are subject to system noise that can obey an unknown light-tailed distribution. We propose a new threshold-based detection mechanism…
An Adaptive Cruise Control (ACC) system automatically adjusts the host vehicle's speed to maintain a safe following distance from a lead vehicle. In typical implementations, a feedback controller (e.g., a Proportional-Integral-Derivative…
Research trends in SLAM systems are now focusing more on multi-sensor fusion to handle challenging and degenerative environments. However, most existing multi-sensor fusion SLAM methods mainly use all of the data from a range of sensors, a…
As the technological advancement and capabilities of automated systems have increased drastically, the usage of unmanned aerial vehicles for performing human-dependent tasks without human indulgence has also spiked. Since unmanned aerial…
As autonomous vehicles become an essential component of modern transportation, they are increasingly vulnerable to threats such as GPS spoofing attacks. This study presents an adaptive detection approach utilizing a dynamically tuned…
Autonomous vehicles (AVs) are poised to revolutionize the transportation industry by enhancing traffic efficiency and road safety. However, achieving optimal vehicular autonomy demands an uninterrupted and precise positioning solution,…
Unmanned Aerial Vehicles (UAVs) rely on measurements from Inertial Measurement Units (IMUs) to maintain stable flight. However, IMUs are susceptible to physical attacks, including acoustic resonant and electromagnetic interference attacks,…
Cyber-physical-social connectivity is a key element in Intelligent Transportation Systems (ITSs) due to the ever-increasing interaction between human users and technological systems. Such connectivity translates the ITSs into dynamical…
Watermarking can detect sensor attacks in control systems by injecting a private signal into the control, whereby attacks are identified by checking the statistics of the sensor measurements and private signal. However, past approaches…