Related papers: Drift with Devil: Security of Multi-Sensor Fusion …
The multi-agent pathfinding (MAPF) problem seeks collision-free paths for a team of agents from their current positions to their pre-set goals in a known environment, and is an essential problem found at the core of many logistics,…
Safety-critical sensors in autonomous vehicles (AVs) form an essential part of the vehicle's trusted computing base (TCB), yet they are highly susceptible to attacks. Alarmingly, Tier 1 manufacturers have already exposed vulnerabilities to…
Perception plays a pivotal role in autonomous driving systems, which utilizes onboard sensors like cameras and LiDARs (Light Detection and Ranging) to assess surroundings. Recent studies have demonstrated that LiDAR-based perception is…
Reliable detection and tracking of surrounding objects are indispensable for comprehensive motion prediction and planning of autonomous vehicles. Due to the limitations of individual sensors, the fusion of multiple sensor modalities is…
Developing reliable UAV navigation systems requires robust air-to-air object detectors capable of distinguishing between objects seen during training and previously unseen objects. While many methods address closed-set detection and achieve…
Unmanned aerial vehicle (UAV) system is vulnerable to the control signal spoofing attack due to the openness of the wireless communications. In this correspondence, a physical layer approach is proposed to combat the control signal spoofing…
Autonomous collision avoidance requires accurate environmental perception; however, flight systems often possess limited sensing capabilities with field-of-view (FOV) restrictions. To navigate this challenge, we present a safety-aware…
Contemporary autonomous vehicle (AV) benchmarks have advanced techniques for training 3D detectors. While class labels naturally follow a long-tailed distribution in the real world, existing benchmarks only focus on a few common classes…
Global Positioning System (GPS) spoofing involves transmitting fake signals that mimic those from GPS satellites, causing the GPS receivers to calculate incorrect Positioning, Navigation, and Timing (PNT) information. Recently, there has…
We present a high-fidelity Mixed Reality sensor emulation framework for testing and evaluating the resilience of Unmanned Aerial Vehicles (UAVs) against false data injection (FDI) attacks. The proposed approach can be utilized to assess the…
The rapid development of technology has led to an increase in the number of devices that rely on position, velocity, and time (PVT) information to perform their functions. As such, the Global Navigation Satellite Systems (GNSS) have been…
Integrated sensing and communication (ISAC) emerged as a key feature of next-generation 6G wireless systems, allowing them to achieve high data rates and sensing accuracy. While prior research has primarily focused on addressing…
Position sensors, such as the gyroscope, the magnetometer and the accelerometer, are found in a staggering variety of devices, from smartphones and UAVs to autonomous robots. Several works have shown how adversaries can mount spoofing…
Autonomous vehicles (AVs) rely heavily on LiDAR (Light Detection and Ranging) systems for accurate perception and navigation, providing high-resolution 3D environmental data that is crucial for object detection and classification. However,…
In this paper, we present a framework to control a self-driving car by fusing raw information from RGB images and depth maps. A deep neural network architecture is used for mapping the vision and depth information, respectively, to steering…
Multi-focus image fusion (MFIF) and super-resolution (SR) are the inverse problem of imaging model, purposes of MFIF and SR are obtaining all-in-focus and high-resolution 2D mapping of targets. Though various MFIF and SR methods have been…
It has become a consensus that autonomous vehicles (AVs) will first be widely deployed on highways. However, the complexity of highway interchanges becomes the bottleneck for deploying AVs. An AV should be sufficiently tested under…
Vehicle-to-everything (V2X) communication is expected to be a prominent component of the sixth generation (6G) to accomplish intelligent transportation systems (ITS). Autonomous vehicles relying only on onboard sensors cannot bypass the…
6-DoF visual localization systems utilize principled approaches rooted in 3D geometry to perform accurate camera pose estimation of images to a map. Current techniques use hierarchical pipelines and learned 2D feature extractors to improve…
In this paper, we study how to secure the platooning of autonomous vehicles when an unknown vehicle is under attack and bounded system uncertainties exist. For the attacked vehicle, its position and speed measurements from GPS can be…