Related papers: VIMU: Effective Physics-based Realtime Detection a…
The rapid proliferation of unmanned aerial vehicles (UAVs) and their applications in diverse domains, such as surveillance, disaster management, agriculture, and defense, have revolutionized modern technology. While the potential benefits…
Safety and resilience are critical for autonomous unmanned aerial vehicles (UAVs). We introduce MAVFI, the micro aerial vehicles (MAVs) resilience analysis methodology to assess the effect of silent data corruption (SDC) on UAVs' mission…
Commercial operation of unmanned aerial vehicles (UAVs) would benefit from an onboard ability to sense and avoid (SAA) potential mid-air collision threats. In this paper we present a new approach for detection of aircraft below the horizon.…
Unmanned Aerial Vehicles (UAVs) depend on onboard sensors for perception, navigation, and control. However, these sensors are susceptible to physical attacks, such as GPS spoofing, that can corrupt state estimates and lead to unsafe…
Inertial odometry (IO) using strap-down inertial measurement units (IMUs) is critical in many robotic applications where precise orientation and position tracking are essential. Prior kinematic motion model-based IO methods often use a…
Visual-inertial odometry (VIO) is widely used in various fields, such as robots, drones, and autonomous vehicles. However, real-world scenes often feature dynamic objects, compromising the accuracy of VIO. The diversity and partial…
Autonomous aerial robots are increasingly being deployed in real-world scenarios, where transparent glass obstacles present significant challenges to reliable navigation. Researchers have investigated the use of non-contact sensors and…
Industrial robotic systems are central to automating smart manufacturing operations. Connected and automated factories face growing cybersecurity risks that can potentially cause interruptions and damages to physical operations. Among these…
The newly introduced Visual State Space Model (VMamba), which employs \textit{State Space Mechanisms} (SSM) to interpret images as sequences of patches, has shown exceptional performance compared to Vision Transformers (ViT) across various…
A model-based windowed chi-squared procedure is proposed for identifying falsified sensor measurements. We employ the widely-used static chi-squared and the dynamic cumulative sum (CUSUM) fault/attack detection procedures as benchmarks to…
This paper presents a hybrid data-driven physics model-based framework for real time monitoring in smart grids. As the power grid transitions to the use of smart grid technology, it's real time monitoring becomes more vulnerable to cyber…
In this paper, we propose a novel framework for enhancing visual comprehension in autonomous driving systems by integrating visual language models (VLMs) with additional visual perception module specialised in object detection. We extend…
Accurate localisation of unmanned aerial vehicles is vital for the next generation of automation tasks. This paper proposes a minimum energy filter for velocity-aided pose estimation on the extended special Euclidean group. The approach…
Multi-agent systems are currently applied to solve complex problems. The security of networks is an eloquent example of a complex and difficult problem. A new model-concept Hybrid Sensitive Robot Metaheuristic for Intrusion Detection is…
CCTV-based surveillance using unmanned aerial vehicles (UAVs) is considered a key technology for security in smart city environments. This paper creates a case where the UAVs with CCTV-cameras fly over the city area for flexible and…
The robustness of event cameras to high dynamic range and motion blur holds the potential to improve visual odometry systems in challenging environments. Although their high temporal resolution does not require synchronous processing, most…
Network intrusion detection systems (NIDSs) play an important role in computer network security. There are several detection mechanisms where anomaly-based automated detection outperforms others significantly. Amid the sophistication and…
The monitoring of individuals/objects has become increasingly possible in recent years due to the convenience of integrated cameras in many devices. Due to the important moments or activities of people captured by these devices, it has made…
This paper proposes an active attack detection scheme for constrained cyber-physical systems. Despite passive approaches where the detection is based on the analysis of the input-output data, active approaches interact with the system by…
Fast contact detection is crucial for safe human-robot collaboration. Observers based on proprioceptive information can be used for contact detection but have first-order error dynamics, which results in delays. Sensor fusion based on…