Related papers: A Modular Safety Filter for Safety-Certified Cyber…
Modern autopilot systems are prone to sensor attacks that can jeopardize flight safety. To mitigate this risk, we proposed a modular solution: the secure safety filter, which extends the well-established control barrier function (CBF)-based…
Safety concerns during the operation of legged robots must be addressed to enable their widespread use. Machine learning-based control methods that use model-based constraints provide promising means to improve robot safety. This study…
Recent years have seen significant progress in the realm of robot autonomy, accompanied by the expanding reach of robotic technologies. However, the emergence of new deployment domains brings unprecedented challenges in ensuring safe…
The tight coupling between communication and control in cyber-physical systems is necessary to enable the complex regulation required to operate these systems. Unfortunately, cyberattackers can exploit network vulnerabilities to compromise…
Many autonomous systems face safety challenges, requiring robust closed-loop control to handle physical limitations and safety constraints. Real-world systems, like autonomous ships, encounter nonlinear dynamics and environmental…
In this paper, we propose a data-driven networked control architecture for unknown and constrained cyber-physical systems capable of detecting networked false-data-injection attacks and ensuring plant's safety. In particular, on the…
In this paper, we propose a novel predictive safety filter that is robust to bounded perturbations and is implemented in an even-triggered fashion to reduce online computation. The proposed safety filter extends upon existing work to reject…
This paper presents a secure safety filter design for nonlinear systems under sensor spoofing attacks. Existing approaches primarily focus on linear systems which limits their applications in real-world scenarios. In this work, we extend…
Cyber-physical systems can be subject to sensor attacks, e.g., sensor spoofing, leading to unsafe behaviors. This paper addresses this problem in the context of linear systems when an omniscient attacker can spoof several system sensors at…
Robotic manipulation in dynamic and unstructured environments requires safety mechanisms that exploit what is known and what is uncertain about the world. Existing safety filters often assume full observability, limiting their applicability…
This paper introduces a safety filter to ensure collision avoidance for multirotor aerial robots. The proposed formalism leverages a single Composite Control Barrier Function from all position constraints acting on a third-order nonlinear…
Safety filters ensure that only safe control actions are executed. We propose a simple and stealthy false-data injection attack for deactivating such safety filters; in particular, we focus on deactivating safety filters that are based on…
The transfer of reinforcement learning (RL) techniques into real-world applications is challenged by safety requirements in the presence of physical limitations. Most RL methods, in particular the most popular algorithms, do not support…
Ensuring safety is a critical requirement for autonomous systems, yet providing formal guarantees for nominal controllers remains a significant challenge. In this paper, we propose a modular sampling-based safety filter to ensure the safety…
The power grid is a critical infrastructure essential for public safety and welfare. As its reliance on digital technologies grows, so do its vulnerabilities to sophisticated cyber threats, which could severely disrupt operations. Effective…
In today's world, critical infrastructure is often controlled by computing systems. This introduces new risks for cyber attacks, which can compromise the security and disrupt the functionality of these systems. It is therefore necessary to…
Systems modeling practice lacks security analysis tools that can interface with modeling languages to facilitate security by design. Security by design is a necessity in the age of safety critical cyber-physical systems, where security…
Over the past decade, industrial control systems have experienced a massive integration with information technologies. Industrial networks have undergone numerous technical transformations to protect operational and production processes,…
Cyber-physical systems are found in many applications such as power networks, manufacturing processes, and air and ground transportation systems. Maintaining security of these systems under cyber attacks is an important and challenging…
In this paper, we present a way of enforcing safety and passivity properties of robot teleoperation systems, where a human operator interacts with a dynamical system modeling the robot. The approach does so in a holistic fashion, by…