Related papers: Experimental Validation of Sensor Fusion-based GNS…
Cellular-based Unmanned Aerial Vehicle (UAV) systems are a promising paradigm to provide reliable and fast Beyond Visual Line of Sight (BVLoS) communication services for UAV operations. However, such systems are facing a serious GPS…
This paper proposes a low-cost six Degree-of-Freedom (6-DOF) navigation system for small aerial robots based on the integration of Global Position System (GPS) receiver with sensors of inertional Microelectromechanical Systems (MEMS). In…
Autonomous underwater vehicles (AUVs) are sophisticated robotic platforms crucial for a wide range of applications. The accuracy of AUV navigation systems is critical to their success. Inertial sensors and Doppler velocity logs (DVL) fusion…
The development of the low-altitude economy has led to a growing prominence of uncrewed aerial vehicle (UAV) safety management issues. Therefore, accurate identification, real-time localization, and effective countermeasures have become…
We propose a fixed-lag smoother-based sensor fusion architecture to leverage the complementary benefits of range-based sensors and visual-inertial odometry (VIO) for localization. We use two fixed-lag smoothers (FLS) to decouple accurate…
We present a generalized velocity model to improve localization when using an Inertial Navigation System (INS). This algorithm was applied to correct the velocity of a smart phone based indoor INS system to increase the accuracy by…
Robust semantic perception for autonomous vehicles relies on effectively combining multiple sensors with complementary strengths and weaknesses. State-of-the-art sensor fusion approaches to semantic perception often treat sensor data…
In this study, we propose an innovative method for the real-time detection of GPS spoofing attacks targeting drones, based on the video stream captured by a drone's camera. The proposed method collects frames from the video stream and their…
Civilian-GNSS is vulnerable to signal spoofing attacks, and countermeasures based on cryptographic authentication are being proposed to protect against these attacks. Both Galileo and GPS are currently testing broadcast authentication…
As the development of autonomous and connected vehicles advances, the complexity of modern vehicles increases, with numerous Electronic Control Units (ECUs) integrated into the system. In an in-vehicle network, these ECUs communicate with…
Increasing numbers of mobile computing devices, user-portable, or embedded in vehicles, cargo containers, or the physical space, need to be aware of their location in order to provide a wide range of commercial services. Most often, mobile…
Lacking security awareness, sensor fusion in systems with multi-agent networks such as smart cities is vulnerable to attacks. To guard against recent threats, we design security-aware sensor fusion that is based on the estimates of…
Modern on-road navigation systems heavily depend on integrating speed measurements with inertial navigation systems (INS) and global navigation satellite systems (GNSS). Telemetry-based applications typically source speed data from the…
With the advancement of transportation vehicles, the importance and utility of navigation systems providing positioning, navigation, and timing (PNT) information have been increasing. Global navigation satellite systems (GNSS) are widely…
This article proposes a method to diminish the pose (position plus attitude) drift experienced by an SVO (Semi-Direct Visual Odometry) based visual navigation system installed onboard a UAV (Unmanned Air Vehicle) by supplementing its pose…
This paper presents a safe imitation learning approach for autonomous vehicle driving, with attention on real-life human driving data and experimental validation. In order to increase occupant's acceptance and gain drivers' trust, the…
Security measures are essential in the automotive industry to detect intrusions in-vehicle networks. However, developing a one-size-fits-all Intrusion Detection System (IDS) is challenging because each vehicle has unique data profiles. This…
To safeguard Civilian Global Navigation Satellite Systems (GNSS) external information available to the platform encompassing the GNSS receiver can be used to detect attacks. Cross-checking the GNSS-provided time against alternative multiple…
Recently, the emergence of 3D Gaussian Splatting (3DGS) has drawn significant attention in the area of 3D map reconstruction and visual SLAM. While extensive research has explored 3DGS for indoor trajectory tracking using visual sensor…
Intrusion detection is an important defensive measure for automotive communications security. Accurate frame detection models assist vehicles to avoid malicious attacks. Uncertainty and diversity regarding attack methods make this task…