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We consider the problem of security-aware planning in an unknown stochastic environment, in the presence of attacks on control signals (i.e., actuators) of the robot. We model the attacker as an agent who has the full knowledge of the…

Robotics · Computer Science 2026-04-07 Alper Kamil Bozkurt , Yu Wang , Miroslav Pajic

Opacity has emerged as a central confidentiality notion for information-flow security in discrete event systems (DES), capturing the requirement that an external observer (intruder) should never be able to determine with certainty whether…

Systems and Control · Electrical Eng. & Systems 2026-02-27 Xiang Yin

Monitoring is an important part of the verification toolbox, in particular in situations where exhaustive verification using, e.g., model-checking is infeasible. The goal of online monitoring is to determine the satisfaction or violation of…

Formal Languages and Automata Theory · Computer Science 2025-10-02 Thomas M. Grosen , Sean Kauffman , Kim G. Larsen , Martin Zimmermann

In this paper, we investigate the enforcement of opacity via supervisory control in the context of discrete-event systems. A system is said to be opaque if the intruder, which is modeled as a passive observer, can never infer confidently…

Systems and Control · Electrical Eng. & Systems 2021-11-23 Yifan Xie , Xiang Yin , Shaoyuan Li

This paper studies the synthesis of control policies for an agent that has to satisfy a temporal logic specification in a partially observable environment, in the presence of an adversary. The interaction of the agent (defender) with the…

Systems and Control · Electrical Eng. & Systems 2020-11-09 Bhaskar Ramasubramanian , Luyao Niu , Andrew Clark , Linda Bushnell , Radha Poovendran

This paper investigates an important informationflow security property called opacity in partially-observed discrete-event systems. We consider the presence of a passive intruder (eavesdropper) that knows the dynamic model of the system and…

Systems and Control · Electrical Eng. & Systems 2020-10-28 Shuo Yang , Xiang Yin

As an information-flow privacy property, opacity characterizes whether a malicious external observer (referred to as an intruder) is able to infer the secret behavior of a system. This paper addresses the problem of opacity enforcement…

Formal Languages and Automata Theory · Computer Science 2025-05-12 Wei Duan , Ruotian Liu , Maria Pia Fanti , Christoforos N. Hadjicostis , Zhiwu Li

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…

Formal Languages and Automata Theory · Computer Science 2025-10-28 Xiaoyan Li , Christoforos N. Hadjicostis

Real-time cyber-physical systems depend on deterministic task execution to guarantee safety and correctness. Unfortunately, this determinism can unintentionally expose timing information that enables adversaries to infer task execution…

Systems and Control · Electrical Eng. & Systems 2026-02-04 Arkaprava Sain , Sunandan Adhikary , Soumyajit Dey

Opacity is a property of privacy and security applications asking whether, given a system model, a passive intruder that makes online observations of system's behaviour can ascertain some "secret" information of the system. Deciding opacity…

Formal Languages and Automata Theory · Computer Science 2023-04-21 Jiří Balun , Tomáš Masopust , Petr Osička

Opacity is a property expressing whether a system may reveal its secret to a passive observer (an intruder) who knows the structure of the system but has a limited observation of its behavior. Several notions of opacity have been studied,…

Systems and Control · Electrical Eng. & Systems 2021-09-07 Jiří Balun , Tomáš Masopust

Encrypted control enables confidential controller evaluations in cloud-based or networked control systems. From a technical point of view, an encrypted controller is a modified control algorithm that is capable of computing encrypted…

Systems and Control · Electrical Eng. & Systems 2021-12-07 N. Schlüter , M. Neuhaus , M. Schulze Darup

In this paper, we investigate a class of information-flow security properties called opacity in partial-observed discrete-event systems. Roughly speaking, a system is said to be opaque if the intruder, which is modeled by a passive…

Systems and Control · Electrical Eng. & Systems 2022-04-01 Bohan Cui , Xiang Yin , Shaoyuan Li , Alessandro Giua

Existing literature on timed opacity uses specific definitions for restricted subclasses of timed automata or limited observation models. This lack of a unified definition makes it difficult to establish formal relationships and compare the…

Formal Languages and Automata Theory · Computer Science 2026-03-30 Zhe Zhang , Martijn Goorden , Michel Reniers

We propose automated techniques for the verification and control of probabilistic real-time systems that are only partially observable. To formally model such systems, we define an extension of probabilistic timed automata in which local…

Logic in Computer Science · Computer Science 2015-06-24 Gethin Norman , David Parker , Xueyi Zou

This paper is motivated by the increasing security concerns of cyber-physical systems. Here, we develop a discretization-free verification scheme targeting an information-flow security property, called approximate initial-state opacity, for…

Optimization and Control · Mathematics 2021-09-24 Siyuan Liu , Majid Zamani

Opacity is a generic security property, that has been defined on (non probabilistic) transition systems and later on Markov chains with labels. For a secret predicate, given as a subset of runs, and a function describing the view of an…

Cryptography and Security · Computer Science 2014-09-02 Béatrice Bérard , Krishnendu Chatterjee , Nathalie Sznajder

In this paper, we consider the problem of controlling a dynamical system such that its trajectories satisfy a temporal logic property in a given amount of time. We focus on multi-affine systems and specifications given as syntactically…

Systems and Control · Computer Science 2012-03-27 Ebru Aydin Gol , Calin Belta

Prior work on automatic control synthesis for cyber-physical systems under logical constraints has primarily focused on environmental disturbances or modeling uncertainties, however, the impact of deliberate and malicious attacks has been…

Systems and Control · Electrical Eng. & Systems 2019-07-25 Luyao Niu , Andrew Clark

As more attention is paid to security in the context of control systems and as attacks occur to real control systems throughout the world, it has become clear that some of the most nefarious attacks are those that evade detection. The term…

Systems and Control · Computer Science 2019-06-04 Carlos Murguia , Iman Shames , Justin Ruths , Dragan Nesic