Related papers: Secure Safety Filter Design for Sampled-data Nonli…

Cyber-physical systems are prone to sensor attacks that can compromise safety. A common approach to synthesizing controllers robust to sensor attacks is secure state reconstruction (SSR) -- but this is computationally expensive, hindering…

This paper focuses on learning efficient sensor allocations that ensure observability of unknown high-dimensional linear systems using only a small number of sensors. Existing methods either require an impractically large number of sensors…

We address the problem of retrieving the full state of a network of R\"ossler systems from the knowledge of the actual state of a limited set of nodes. The selection of the nodes where sensors are placed is carried out in a hierarchical way…

Sensor placement and feature selection are critical steps in engineering, modeling, and data science that share a common mathematical theme: the selected measurements should enable solution of an inverse problem. Most real-world systems of…

Robotic Vehicles (RVs) have gained great popularity over the past few years. Meanwhile, they are also demonstrated to be vulnerable to sensor spoofing attacks. Although a wealth of research works have presented various attacks, some key…

Abuse of zero-permission sensors on-board mobile and wearable devices to infer users' personal context and information is a well-known privacy threat that has received significant attention. Efforts towards protection mechanisms that…

Collaborative signal processing and sensor deployment have been among the most important research tasks in target tracking using networked sensors. In this paper, the mathematical model is formulated for single target tracking using mobile…

We present a convex optimization to reduce the impact of sensor falsification attacks in linear time invariant systems controlled by observer-based feedback. We accomplish this by finding optimal observer and controller gain matrices that…

We study the problem of fault isolation in linear systems with actuator and sensor faults within a data-driven framework. We propose a nullspace-based filter that uses solely fault-free input-output data collected under process and…

This work provides a framework for nonlinear model-free control of systems with unknown input-output dynamics, but outputs that can be controlled by the inputs. This framework leads to real-time control of the system such that a feasible…

This letter studies the dynamical properties of safety filters designed based on Control Barrier Functions (CBF). This mechanism, which is popular in safety-critical applications, takes a nominal controller and minimally modifies it to…

This paper presents the gatekeeper algorithm, a real-time and computationally-lightweight method that ensures that trajectories of a nonlinear system satisfy safety constraints despite sensing limitations. gatekeeper integrates with…

In large-scale networks of uncertain dynamical systems, where communication is limited and there is a strong interaction among subsystems, learning local models and control policies offers great potential for designing high-performance…

Autonomous Cyber-Physical Systems (CPS) fuse proprioceptive sensors such as GPS and exteroceptive sensors including Light Detection and Ranging (LiDAR) and cameras for state estimation and environmental observation. It has been shown that…

Wireless sensor networks (WSNs) have recently attracted a lot of interest in the research community due their wide range of applications. Unfortunately, these networks are vulnerable to numerous security threats that can adversely affect…

Wireless sensor networks (WSNs) have recently attracted a lot of interest in the research community due their wide range of applications. Unfortunately, these networks are vulnerable to numerous security threats that can adversely affect…

This work is concerned with robust filtering of nonlinear sampled-data systems with and without exact discrete-time models. A linear matrix inequality (LMI) based approach is proposed for the design of robust $H_{\infty}$ observers for a…

The design of tracking controllers that closely follow a reference trajectory while ensuring safety and robustness against disturbances is a challenging problem in the control of autonomous systems. In this work, we propose a neural…

We consider the problem of safe control in discrete autonomous agents that use learned components for imperfect perception (or more generally, state estimation) from high-dimensional observations. We propose a shield construction that…

This paper studies the attack detection problem in a data-driven and model-free setting, for deterministic systems with linear and time-invariant dynamics. Differently from existing studies that leverage knowledge of the system dynamics to…