Related papers: Controller confidentiality for nonlinear systems u…
The rapid development of affordable and compact high-fidelity sensors (e.g., cameras and LIDAR) allows robots to construct detailed estimates of their states and environments. However, the availability of such rich sensor information…
This paper proposes a framework for secure and resilient controller design for positive systems against cyber-attacks. In particular, we consider a network-controlled system where an adversary injects false data into the actuator channels…
Neural network controllers have shown potential in achieving superior performance in feedback control systems. Although a neural network can be trained efficiently using deep and reinforcement learning methods, providing formal guarantees…
Control of systems where the information between the controller, actuator, and sensor can be lost or delayed can be challenging with respect to stability and performance. One way to overcome the resulting problems is the use of prediction…
We study the stabilization of networked control systems with asynchronous sensors and controllers. Offsets between the sensor and controller clocks are unknown and modeled as parametric uncertainty. First we consider multi-input linear…
Opacity is an important information-flow security property in the analysis of cyber-physical systems. It captures the plausible deniability of the system's secret behavior in the presence of an intruder that may access the information flow.…
Sensor systems are extremely popular today and vulnerable to sensor data attacks. Due to possible devastating consequences, counteracting sensor data attacks is an extremely important topic, which has not seen sufficient study. This paper…
There has been an increasing interest in using neural networks in closed-loop control systems to improve performance and reduce computational costs for on-line implementation. However, providing safety and stability guarantees for these…
We study how to design a secure observer-based distributed controller such that a group of vehicles can achieve accurate state estimates and formation control even if the measurements of a subset of vehicle sensors are compromised by a…
Consider the problem of covertly controlling a linear system. In this problem, Alice desires to control (stabilize or change the parameters of) a linear system, while keeping an observer, Willie, unable to decide if the system is indeed…
We address the problem of robust state estimation of a class of discrete-time nonlinear systems with positive-slope nonlinearities when the sensors are corrupted by (potentially unbounded) attack signals and bounded measurement noise. We…
In this paper, we propose a system-level approach for verifying the safety of neural network controlled systems, combining a continuous-time physical system with a discrete-time neural network based controller. We assume a generic model for…
As cyber-physical systems (CPSs) become more dependent on data and communication networks, their vulnerability to false data injection (FDI) attacks has raised significant concerns. Among these, stealthy attacks, those that evade…
As a quantitative criterion for privacy of "mechanisms" in the form of data-generating processes, the concept of differential privacy was first proposed in computer science and has later been applied to linear dynamical systems. However,…
This work considers the problem of mitigating information leakage between communication and sensing in systems jointly performing both operations. Specifically, a discrete memoryless state-dependent broadcast channel model is studied in…
In the current control design of safety-critical autonomous systems, formal verification techniques are typically applied after the controller is designed to evaluate whether the required properties (e.g., safety) are satisfied. However,…
This work focuses on analyzing the vulnerability of unmanned aerial vehicles (UAVs) to stealthy black-box false data injection attacks on GPS measurements. We assume that the quadcopter is equipped with IMU and GPS sensors, and an arbitrary…
We address the problem of estimating the state of a differentially flat system from measurements that may be corrupted by an adversarial attack. In cyber-physical systems, malicious attacks can directly compromise the system's sensors or…
We introduce the use, monitoring, and enforcement of integrity constraints in trust management-style authorization systems. We consider what portions of the policy state must be monitored to detect violations of integrity constraints. Then…
Control of quantum systems via time-varying external fields optimized to maximize a fidelity measure at a given time is a mainstay in modern quantum control. However, save for specific systems, current analysis techniques for such quantum…