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We present a new simulator of Uncrewed Aerial Vehicles (UAVs) that is tailored to the needs of testing cyber-physical security attacks and defenses. Recent investigations into UAV safety have unveiled various attack surfaces and some…
Autonomous unmanned aerial vehicles (UAVs) rely on global navigation satellite system (GNSS) pseudorange measurements for accurate real-time localization and navigation. However, this dependence exposes them to sophisticated spoofing…
In this work, we specialize contributions from prior work on data-driven trajectory generation for a quadrotor system with motor saturation constraints. When motors saturate in quadrotor systems, there is an ``uncontrolled drift" of the…
This paper describes the hardware design and flight demonstration of a small quadrotor with imaging sensors for urban mapping, hazard avoidance, and target tracking research. The vehicle is equipped with five cameras, including two pairs of…
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 develops and experimentally evaluates a navigation function for quadrotor formation flight that is resilient to abrupt quadrotor failures and other obstacles. The navigation function is based on modeling healthy quadrotors as…
This paper presents contributions on nonlinear tracking control systems for a quadrotor unmanned micro aerial vehicle. New controllers are proposed based on nonlinear surfaces composed by tracking errors that evolve directly on the…
In unknown cluttered and dynamic environments such as disaster scenes, mobile robots need to perform target-driven navigation in order to find people or objects of interest, while being solely guided by images of the targets. In this paper,…
Pilot contamination attack is an important kind of active eavesdropping activity conducted by a malicious user during channel training phase. In this paper, motivated by the fact that frequency asynchronism could introduce divergence of the…
Global navigation satellite systems (GNSS) are vulnerable to spoofing attacks, with adversarial signals manipulating the location or time information of receivers, potentially causing severe disruptions. The task of discerning the spoofing…
Deep neural networks (DNNs) are increasingly integrated into LiDAR (Light Detection and Ranging)-based perception systems for autonomous vehicles (AVs), requiring robust performance under adversarial conditions. We aim to address the…
Unmanned aerial vehicles (UAVs) are increasingly being integrated into next-generation networks to enhance communication coverage and network capacity. However, the dynamic and mobile nature of UAVs poses significant security challenges,…
Rotor failures in quadrotors may result in high-speed rotation and vibration due to rotor imbalance, which introduces significant challenges for autonomous flight in unknown environments. The mainstream approaches against rotor failures…
The high mobility of unmanned aerial vehicles (UAVs) enables them to be used in various civilian fields, such as rescue and cargo transport. Path-following is a crucial way to perform these tasks while sensing and collision avoidance are…
Safety and security issues for Critical Infrastructures are growing as attackers adopt drones as an attack vector flying in sensitive airspaces, such as airports, military bases, city centers, and crowded places. Despite the use of UAVs for…
Simultaneously accurate and reliable tracking control for quadrotors in complex dynamic environments is challenging. As aerodynamics derived from drag forces and moment variations are chaotic and difficult to precisely identify, most…
We show that the Quantum Generative Adversarial Network (QGAN) paradigm can be employed by an adversary to learn generating data that deceives the monitoring of a Cyber-Physical System (CPS) and to perpetrate a covert attack. As a test…
New quadrotor UAV control algorithms are developed, based on nonlinear surfaces composed of tracking errors that evolve directly on the nonlinear configuration manifold, thus inherently including in the control design the nonlinear…
An inherent fragility of quadrotor systems stems from model inaccuracies and external disturbances. These factors hinder performance and compromise the stability of the system, making precise control challenging. Existing model-based…
To effectively control complex dynamical systems, accurate nonlinear models are typically needed. However, these models are not always known. In this paper, we present a data-driven approach based on Gaussian processes that learns models of…