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We study defense strategies against reward poisoning attacks in reinforcement learning. As a threat model, we consider attacks that minimally alter rewards to make the attacker's target policy uniquely optimal under the poisoned rewards,…
The existing network attack and defense method can be regarded as game, but most of the game only involves network domain, not multiple domain cyberspace. To address this challenge, this paper proposed a multiple domain cyberspace attack…
When is heterogeneity in the composition of an autonomous robotic team beneficial and when is it detrimental? We investigate and answer this question in the context of a minimally viable model that examines the role of heterogeneous speeds…
We introduce an autonomous attack recovery architecture to add common sense reasoning to plan a recovery action after an attack is detected. We outline use-cases of our architecture using drones, and then discuss how to implement this…
While Deep Reinforcement Learning (DRL) has achieved remarkable success across various domains, it remains vulnerable to occasional catastrophic failures without additional safeguards. An effective solution to prevent these failures is to…
The use of unmanned aerial vehicles (UAVs) as delivery systems of online goods is rapidly becoming a global norm, as corroborated by Amazon's "Prime Air" and Google's "Project Wing" projects. However, the real-world deployment of such drone…
The evolution of drone technology in the past nine years since the first commercial drone was introduced at CES 2010 has caused many individuals and businesses to adopt drones for various purposes. We are currently living in an era in which…
Pursuit-evasion scenarios appear widely in robotics, security domains, and many other real-world situations. We focus on two-player pursuit-evasion games with concurrent moves, infinite horizon, and discounted rewards. We assume that the…
This paper presents a strategy for control of a spacecraft docking with a non-maneuvering target in the presence of safety constraints and bounded disturbances. The presence of disturbances prevents convergence to a unique docking state, so…
This paper addresses security challenges in multi-robot systems (MRS) where adversaries may compromise robot control, risking unauthorized access to forbidden areas. We propose a novel multi-robot optimal planning algorithm that integrates…
Uncontrolled emissions of gases from industrial accidents and disasters result in huge loss of life and property. Such extreme events require a quick and reliable survey of the site for effective rescue strategy planning. To achieve these…
Drone racing is becoming a popular sport where human pilots have to control their drones to fly at high speed through complex environments and pass a number of gates in a pre-defined sequence. In this paper, we develop an autonomous system…
Multi-domain warfare is a military doctrine that leverages capabilities from different domains, including air, land, sea, space, and cyberspace, to create a highly interconnected battle network that is difficult for adversaries to disrupt…
We introduce a dynamic vehicle routing problem in which a single vehicle seeks to guard a circular perimeter against radially inward moving targets. Targets are generated uniformly as per a Poisson process in time with a fixed arrival rate…
Autonomous drone racing has gained attention for its potential to push the boundaries of drone navigation technologies. While much of the existing research focuses on racing in obstacle-free environments, few studies have addressed the…
Drone racing involves high-speed navigation of three-dimensional paths, posing a substantial challenge in control engineering. This study presents a game-theoretic control framework, the nonlinear receding-horizon differential game (NRHDG),…
Drones operating in complex environments face a significant threat from thin obstacles, such as steel wires and kite strings at the submillimeter level, which are notoriously difficult for conventional sensors like RGB cameras, LiDAR, and…
We present a model for layered security with applications to the protection of sites such as stadiums or large gathering places. We formulate the problem as one of maximizing the capture of illegal contraband. The objective function is…
In this paper, we simulated a distributed, cooperative path planning technique for multiple drones (~200) to explore an unknown region (~10,000 connected units) in the presence of obstacles. The map of an unknown region is dynamically…
Autonomous coverage of a specified area by robots operating in close proximity with each other has many potential applications such as real-time monitoring of rapidly changing environments, and search and rescue; however, coordination and…