Related papers: Secure Minimum Time Planning Under Environmental U…
Over the past decade, industrial control systems have experienced a massive integration with information technologies. Industrial networks have undergone numerous technical transformations to protect operational and production processes,…
With the emergence of low-cost smart and connected IoT devices, the area of cyber-physical security is becoming increasingly important. Past research has demonstrated new threat vectors targeting the transition process between the cyber and…
Social Robots need to be safe and reliable to share their space with humans. This paper reports on the first results of a research project that aims to create more safe and reliable, intelligent autonomous robots by investigating the…
Cyber Physical Systems (CPSs) are the result of convergence of computation, networking, and control of physical process. In this paper, we consider an industrial CPS consisting of several control plants and Rate Constrained (RC) users that…
In recent years, tremendous effort has been spent to modernizing communication infrastructure in Cyber-Physical Systems (CPS) such as Industrial Control Systems (ICS) and related Supervisory Control and Data Acquisition (SCADA) systems.…
In this paper, we address two main problems in the context of covert cyber-attacks in cyber-physical systems (CPS). First, we aim to investigate and develop necessary and sufficient conditions in terms of disruption resources of the CPS…
Cyber-physical systems (CPS) play a pivotal role in numerous critical real-world applications that have stringent requirements for safety. To enhance the CPS resiliency against attacks, redundancy can be integrated in real-time controller…
Systems modeling practice lacks security analysis tools that can interface with modeling languages to facilitate security by design. Security by design is a necessity in the age of safety critical cyber-physical systems, where security…
Current cyber-physical systems (CPS) are expected to accomplish complex tasks. To achieve this goal, high performance, but unverified controllers (e.g. deep neural network, black-box controllers from third parties) are applied, which makes…
Robotic platforms are highly programmable, scalable and versatile to complete several tasks including Inspection, Maintenance and Repair (IMR). Mobile robotics offer reduced restrictions in operating environments, resulting in greater…
Attacks in cyber-physical systems (CPS) which manipulate sensor readings can cause enormous physical damage if undetected. Detection of attacks on sensors is crucial to mitigate this issue. We study supervised regression as a means to…
Human-robot interactions have been recognized to be a key element of future industrial collaborative robots (co-robots). Unlike traditional robots that work in structured and deterministic environments, co-robots need to operate in highly…
Cyber-physical systems (CPS) are required to operate safely under fault and malicious attacks. The simplex architecture and the recently proposed cyber resilient architectures, e.g., Byzantine fault tolerant++ (BFT++), provide safety for…
Cyber physical systems (CPS) are mission critical systems engineered by combination of cyber and physical systems respectively. These systems are tightly coupled, resource constrained systems and have dynamic real time applications. Due to…
Path planning for multiple robots is well studied in the AI and robotics communities. For a given discretized environment, robots need to find collision-free paths to a set of specified goal locations. Robots can be fully anonymous,…
Robustness as a system property describes the degree to which a system is able to function correctly in the presence of disturbances, i.e., unforeseen or erroneous inputs. In this paper, we introduce a notion of robustness termed…
Resilience in cyber-physical systems (CPS) is the fundamental ability to maintain safety and critical functionality despite adverse "perturbations," which includes security attacks, environmental disruptions, and hardware or software…
We study the navigation problem for a robot moving amidst static and dynamic obstacles and rely on a hierarchical approach to solve it. First, the reference trajectory is planned by the safe interval path planning algorithm that is capable…
We address the problem of sparsity-promoting optimal control of cyber-physical systems (CPSs) in the presence of communication delays. The delays are categorized into two types - namely, an inter-layer delay for passing state and control…
The advantages of using communication networks to interconnect controllers and physical plants motivate the increasing number of Networked Control Systems, in industrial and critical infrastructure facilities. However, this integration also…