Related papers: Dynamic State Estimation of Generators Under Cyber…
Malicious activities on measurements from sensors like Phasor Measurement Units (PMUs) can mislead the control center operator into taking wrong control actions resulting in disruption of operation, financial losses, and equipment damage.…
The setup considered in the paper consists of sensors in a Networked Control System that are used to build a digital twin (DT) model of the system dynamics. The focus is on control, scheduling, and resource allocation for sensory…
We consider the Kalman-filtering problem with multiple sensors which are connected through a communication network. If all measurements are delivered to one place called fusion center and processed together, we call the process centralized…
The Kalman filter (KF) is used in a variety of applications for computing the posterior distribution of latent states in a state space model. The model requires a linear relationship between states and observations. Extensions to the Kalman…
Modern autonomous systems are purposed for many challenging scenarios, where agents will face unexpected events and complicated tasks. The presence of disturbance noise with control command and unknown inputs can negatively impact robot…
While the digitization of power distribution grids brings many benefits, it also introduces new vulnerabilities for cyber-attacks. To maintain secure operations in the emerging threat landscape, detecting and implementing countermeasures…
Significant efforts have gone into the development of statistical models for analyzing data in the form of networks, such as social networks. Most existing work has focused on modeling static networks, which represent either a single time…
This paper introduces an advanced Quaternion-based Unscented Kalman Filter (QUKF) for real-time, robust estimation of system states and external wrenches in assistive aerial payload transportation systems that engage in direct physical…
In this work, we present methods for state estimation in continuous-discrete nonlinear systems involving stochastic differential equations. We present the extended Kalman filter, the unscented Kalman filter, the ensemble Kalman filter, and…
In this dissertation, we investigate the issue of robust localization in swarms of heterogeneous mobile agents with multiple and time-varying sensing modalities. Our focus is the development of filter-based and decoupled estimators under…
State estimation in stochastic dynamical systems with noisy measurements is a challenge. While the Kalman filter is optimal for linear systems with independent Gaussian white noise, real-world conditions often deviate from these…
In GNSS-denied underwater environments, individual unmanned underwater vehicles (UUVs) suffer from unbounded dead-reckoning drift, making collaborative navigation crucial for accurate state estimation. However, the severe communication…
This article examines state estimation in discrete-time nonlinear stochastic systems with finite-dimensional states and infinite-dimensional measurements, motivated by real-world applications such as vision-based localization and tracking.…
Security is one of the biggest concern in power system operation. Recently, the emerging cyber security threats to operational functions of power systems arouse high public attention, and cybersecurity vulnerability thus become an emerging…
Accurate state estimation of nonlinear dynamical systems is fundamental to modern aerospace operations across air, sea, and space domains. Online tracking of adversarial unmanned aerial vehicles (UAVs) is especially challenging due to agile…
Motivated by filtering tasks under a linear system with non-Gaussian heavy-tailed noise, various robust Kalman filters (RKFs) based on different heavy-tailed distributions have been proposed. Although the sub-Gaussian $\alpha$-stable…
Cyber data attacks are the worst-case interacting bad data to power system state estimation and cannot be detected by existing bad data detectors. In this paper, we for the first time analyze the likelihood of cyber data attacks by…
Physical consequences to power systems of false data injection cyber-attacks are considered. Prior work has shown that the worst-case consequences of such an attack can be determined using a bi-level optimization problem, wherein an attack…
Protecting programs against control-flow hijacking attacks recently has become an arms race between defenders and attackers. While certain defenses, e.g., \textit{Control Flow Integrity} (CFI), restrict the targets of indirect control-flow…
Distributed state estimation strongly depends on collaborative signal processing, which often requires excessive communication and computation to be executed on resource-constrained sensor nodes. To address this problem, we propose an…