Related papers: Zero-dynamics Attack, Variations, and Countermeasu…

Mobile robots are cyber-physical systems where the cyberspace and the physical world are strongly coupled. Attacks against mobile robots can transcend cyber defenses and escalate into disastrous consequences in the physical world. In this…

This paper introduces a class of model-free feedback methods for solving generic constrained optimization problems where the specific mathematical forms of the objective and constraint functions are not available. The proposed methods,…

This paper discusses the problem of estimating the state of a linear time-invariant system when some of its sensors and actuators are compromised by an adversarial agent. In the model considered in this paper, the malicious agent attacks an…

An analytical approach for a dynamic cyber-security problem that captures progressive attacks to a computer network is presented. We formulate the dynamic security problem from the defender's point of view as a supervisory control problem…

Deep neural networks face persistent challenges in defending against backdoor attacks, leading to an ongoing battle between attacks and defenses. While existing backdoor defense strategies have shown promising performance on reducing attack…

We consider the problem of proving that each point in a given set of states ("target set") can indeed be reached by a given nondeterministic continuous-time dynamical system from some initial state. We consider this problem for abstract…

Attacks, including the manipulation of sensor readings and the modification of actuator commands, pose a significant challenge to the security and privacy of automated systems. This paper considers discrete event systems that can be modeled…

In real-world control applications, actuator constraints and output constraints (specifically in tracking problems) are inherent and critical to ensuring safe and reliable operation. However, generally, control strategies often neglect…

In this article, we address the problem of risk assessment of stealthy attacks on uncertain control systems. Considering data injection attacks that aim at maximizing impact while remaining undetected, we use the recently proposed…

For mobile robots, navigating cluttered or dynamic environments often necessitates non-prehensile manipulation, particularly when faced with objects that are too large, irregular, or fragile to grasp. The unpredictable behavior and varying…

A model of strategy formulation is used to study how an adaptive attacker learns to overcome a moving target cyber defense. The attacker-defender interaction is modeled as a game in which a defender deploys a temporal platform migration…

This paper focuses on the problem of cyber attacks for discrete event systems under supervisory control. In more detail, the goal of the supervisor, who has a partial observation of the system evolution, is that of preventing the system…

A reciprocal dance occurs when two mobile agents attempt to pass each other but incompatible interaction models result in repeated attempts to take mutually blocking actions. Often, such a situation simply results in deadlock. But in…

Adversarial attacks perturb images such that a deep neural network produces incorrect classification results. A promising approach to defend against adversarial attacks on natural multi-object scenes is to impose a context-consistency…

This paper focuses on the spacecraft attitude control problem with intermittent actuator activation, taking into account the attitude rotation rate limitation and input saturation issue simultaneously. To address this problem, we first…

This tutorial is about cellular automata that exhibit 'cold dynamics'. By this we mean zero entropy, stabilization of all orbits, trivial asymptotic dynamics, etc. These are purely transient irreversible dynamics, but they capture many…

Stable dynamical systems are a flexible tool to plan robotic motions in real-time. In the robotic literature, dynamical system motions are typically planned without considering possible limitations in the robot's workspace. This work…

There is ample evidence in the automotive cybersecurity literature that the car brake ECUs can be maliciously reprogrammed. Motivated by such threat, this paper investigates the capabilities of an adversary who can directly control the…

The notion of zero dynamics is a cornerstone of many solutions to important control problems such as feedback linearisation and disturbance decoupling. For a SISO affine control system with relative degree strictly less than the order of…

Inverse dynamics is used extensively in robotics and biomechanics applications. In manipulator and legged robots, it can form the basis of an effective nonlinear control strategy by providing a robot with both accurate positional tracking…