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Predictable inter-vehicle communication reliability is a basis for the paradigm shift from the traditional singlevehicle-oriented safety and efficiency control to networked vehicle control. The lack of predictable interference control in…
Prior work on automatic control synthesis for cyber-physical systems under logical constraints has primarily focused on environmental disturbances or modeling uncertainties, however, the impact of deliberate and malicious attacks has been…
This paper addresses the problem of distributed resilient state estimation and control for linear time-invariant systems in the presence of malicious false data injection sensor attacks and bounded noise. We consider a system operator…
Cyber-Physical Systems (CPS) integrate sensing, communication, computation, and control to support critical infrastructure, including smart grids, industrial automation, and control systems. In the electrical utility domain, various…
Modern cyber-physical systems (e.g., robotics systems) are typically composed of physical and software components, the characteristics of which are likely to change over time. Assumptions about parts of the system made at design time may…
Cyber-physical systems integrate computation, communication, and physical capabilities to interact with the physical world and humans. Besides failures of components, cyber-physical systems are prone to malicious attacks so that specific…
In order to enable physical human-robot interaction where humans and (mobile) manipulators share their workspace and work together, robots have to be equipped with important capabilities to guarantee human safety. The robots have to…
Cyber-Physical Systems (CPS) are formed through interconnected components capable of computation, communication, sensing and changing the physical world. The development of these systems poses a significant challenge since they have to be…
Due to major breakthroughs in software and engineering technologies, embedded systems are increasingly being utilized in areas ranging from aerospace and next-generation transportation systems, to smart grid and smart cities, to health care…
In the era of Big Data and Internet-of-Things (IoT), all real-world environments are gradually becoming cyber-physical (e.g., emergency management, healthcare, smart manufacturing, etc.), with the presence of connected devices and embedded…
Datasets are essential to apply AI algorithms to Cyber Physical System (CPS) Security. Due to scarcity of real CPS datasets, researchers elected to generate their own datasets using either real or virtualized testbeds. However, unlike other…
In this paper, we view a policy or plan as a transition system over a space of information states that reflect a robot's or other observer's perspective based on limited sensing, memory, computation, and actuation. Regardless of whether…
Online generation of collision free trajectories is of prime importance for autonomous navigation. Dynamic environments, robot motion and sensing uncertainties adds further challenges to collision avoidance systems. This paper presents an…
Cyber-Physical System (CPS) has made a tremendous progress in recent years and also disrupted many technical fields such as smart industries, smart health, smart transportation etc. to flourish the nations economy. However, CPS Security is…
In the last years we have witnessed the appearance of a variety of strategies to design optimal location privacy-preserving mechanisms, in terms of maximizing the adversary's expected error with respect to the users' whereabouts. In this…
The growing complexity of modern Cyber-Physical Systems (CPS) and the frequent communication between their components make them vulnerable to malicious attacks. As a result, secure state estimation is a critical requirement for the control…
We present a new framework for motion planning that wraps around existing kinodynamic planners and guarantees recursive feasibility when operating in a priori unknown, static environments. Our approach makes strong guarantees about overall…
The safe operation of an autonomous system is a complex endeavor, one pivotal element being its decision-making. Decision-making logic can formally be analyzed using model checking or other formal verification approaches. Yet, the…
Robotic manipulators are essential for future autonomous systems, yet limited trust in their autonomy has confined them to rigid, task-specific systems. The intricate configuration space of manipulators, coupled with the challenges of…
Smart cities must integrate a number of interdependent cyber-physical systems that operate in a coordinated manner to improve the well-being of the city's residents. A cyber-physical system (CPS) is a system of computational elements…