Related papers: On Reachable Sets of Hidden CPS Sensor Attacks
We address an optimal reachability problem for a planar manipulator in a constrained environment. After introducing the optmization problem in full generality, we practically embed the geometry of the workspace in the problem, by…
This paper addresses security challenges in multi-robot systems (MRS) where adversaries may compromise robot control, risking unauthorized access to forbidden areas. We propose a novel multi-robot optimal planning algorithm that integrates…
Deploying autonomous systems in safety critical settings necessitates methods to verify their safety properties. This is challenging because real-world systems may be subject to disturbances that affect their performance, but are unknown a…
In this paper, we investigate the sensing-aided physical layer security (PLS) towards Integrated Sensing and Communication (ISAC) systems. A well-known limitation of PLS is the need to have information about potential eavesdroppers (Eves).…
Recently, reconstruction-based anomaly detection was proposed as an effective technique to detect attacks in dynamic industrial control networks. Unlike classical network anomaly detectors that observe the network traffic,…
In this work, we focus on analyzing vulnerability of nonlinear dynamical control systems to stealthy false data injection attacks on sensors. We start by defining the stealthiness notion in the most general form where an attack is…
The paper addresses the problem of detecting attacks on distributed estimator networks that aim to intentionally bias process estimates produced by the network. It provides a sufficient condition, in terms of the feasibility of certain…
We study the problem of learning-based attacks in linear systems, where the communication channel between the controller and the plant can be hijacked by a malicious attacker. We assume the attacker learns the dynamics of the system from…
For autonomous driving, an essential task is to detect surrounding objects accurately. To this end, most existing systems use optical devices, including cameras and light detection and ranging (LiDAR) sensors, to collect environment data in…
An $\epsilon$-approximate incidence between a point and some geometric object (line, circle, plane, sphere) occurs when the point and the object lie at distance at most $\epsilon$ from each other. Given a set of points and a set of objects,…
This paper presents a real-time non-probabilistic detection mechanism to detect load-redistribution (LR) attacks against energy management systems (EMSs). Prior studies have shown that certain LR attacks can bypass conventional bad data…
In real world applications, uncertain parameters are the rule rather than the exception. We present a reachability algorithm for linear systems with uncertain parameters and inputs using set propagation of polynomial zonotopes. In contrast…
Attack detection problems in the smart grid are posed as statistical learning problems for different attack scenarios in which the measurements are observed in batch or online settings. In this approach, machine learning algorithms are used…
Data-driven reachability analysis enables safety verification when first-principles models are unavailable. This requires constructing sets of system models consistent with measured trajectories and noise assumptions. Existing approaches…
In this paper, an outlier elimination algorithm for ellipse/ellipsoid fitting is proposed. This two-stage algorithm employs a proximity-based outlier detection algorithm (using the graph Laplacian), followed by a model-based outlier…
The objective of the invariant ellipsoid method is to minimize the smallest invariant and attractive set of a linear control system operating under the influence of bounded external disturbances. In this paper, this method is extended into…
Future power networks will be characterized by safe and reliable functionality against physical malfunctions and cyber attacks. This paper proposes a unified framework and advanced monitoring procedures to detect and identify network…
We study the performance of perception-based control systems in the presence of attacks, and provide methods for modeling and analysis of their resiliency to stealthy attacks on both physical and perception-based sensing. Specifically, we…
Airborne collision avoidance systems provide an onboard safety net should normal air traffic control procedures fail to keep aircraft separated. These systems are widely deployed and have been constantly refined over the past three decades,…
Autonomous Cyber-Physical Systems (CPS) fuse proprioceptive sensors such as GPS and exteroceptive sensors including Light Detection and Ranging (LiDAR) and cameras for state estimation and environmental observation. It has been shown that…