Related papers: Secure Minimum Time Planning Under Environmental U…
Safe operation of systems such as robots requires them to plan and execute trajectories subject to safety constraints. When those systems are subject to uncertainties in their dynamics, it is challenging to ensure that the constraints are…
Cyber-physical systems (CPS) have been broadly deployed in safety-critical domains, such as automotive systems, avionics, medical devices, etc. In recent years, Artificial Intelligence (AI) has been increasingly adopted to control CPS.…
As cyber-physical systems (CPSs) become more dependent on data and communication networks, their vulnerability to false data injection (FDI) attacks has raised significant concerns. Among these, stealthy attacks, those that evade…
Cyber-physical systems (CPS) have experienced rapid growth in recent decades. However, like any other computer-based systems, malicious attacks evolve mutually, driving CPS to undesirable physical states and potentially causing…
The subject of this work is the patrolling of an environment with the aid of a team of autonomous agents. We consider both the design of open-loop trajectories with optimal properties, and of distributed control laws converging to optimal…
Safe planning of an autonomous agent in interactive environments -- such as the control of a self-driving vehicle among pedestrians -- poses a major challenge as the behavior of the environment is unknown and reactive to the behavior of the…
Most interesting problems in robotics (e.g., locomotion and manipulation) are realized through intermittent contact with the environment. Due to the perception and modeling errors, assuming an exact time for establishing contact with the…
This paper studies the performance and resilience of a cyber-physical control system (CPCS) with attack detection and reactive attack mitigation. It addresses the problem of deriving an optimal sequence of false data injection attacks that…
Recent years have seen increased interest in the design and deployment of smart grid devices and control algorithms. Each of these smart communicating devices represents a potential access point for an intruder spurring research into…
This paper presents the cyber-physcial model of a computer-mediated control system that is a seamless, fully synergistic integration of the physical system and the cyber system, which provides a systematic framework for synthesis of…
Industrial Control Systems (ICSs) are widely used in critical infrastructures that face various cyberattacks causing physical damage. With the increasing integration of the ICSs and information technology (IT), ensuring the security of ICSs…
The reach and scale of Cyber Physical Systems (CPS) are expanding to many aspects of our everyday lives. Health, safety, transportation and education are a few areas where CPS are increasingly prevalent. There is a pressing need to secure…
Short-term load forecasting is an essential task that supports utilities to schedule generating sufficient power for balancing supply and demand, and can become an attractive target for cyber attacks. It has been shown that the power system…
Consider a robot operating in an uncertain environment with stochastic, dynamic obstacles. Despite the clear benefits for trajectory optimization, it is often hard to keep track of each obstacle at every time step due to sensing and…
This paper presents a novel learning-based approach for online estimation of maximal safe sets for local trajectory planning in unknown static environments. The neural representation of a set is used as the terminal set constraint for a…
This paper studies the problem of control strategy synthesis for dynamical systems with differential constraints to fulfill a given reachability goal while satisfying a set of safety rules. Particular attention is devoted to goals that…
Path planning for autonomous robots faces a fundamental trade-off between path length and obstacle clearance. While existing algorithms typically prioritize a single objective, we introduce the Unified Path Planner (UPP), a graph-search…
In many mobile robotics scenarios, such as drone racing, the goal is to generate a trajectory that passes through multiple waypoints in minimal time. This problem is referred to as time-optimal planning. State-of-the-art approaches either…
This paper studies a class of multi-robot coordination problems where a team of robots aim to reach their goal regions with minimum time and avoid collisions with obstacles and other robots. A novel numerical algorithm is proposed to…
Increased connectivity and remote reprogrammability/reconfigurability features of embedded devices in current-day power systems (including interconnections between information technology -- IT -- and operational technology -- OT --…