Related papers: Information-Driven Fault Detection and Identificat…
Miniaturized satellites are currently not considered suitable for critical, high-priority, and complex multi-phased missions, due to their low reliability. As hardware-side fault tolerance (FT) solutions designed for larger spacecraft can…
Space Domain Awareness (SDA) involves the detection, tracking, and characterization of space objects through the fusion of data across the space environment. As SDA advances beyond localized or operator-specific capabilities, there is a…
Accurate perception of dynamic obstacles is essential for autonomous robot navigation in indoor environments. Although sophisticated 3D object detection and tracking methods have been investigated and developed thoroughly in the fields of…
In the field of autonomous driving or robotics, simultaneous localization and mapping (SLAM) and multi-object tracking (MOT) are two fundamental problems and are generally applied separately. Solutions to SLAM and MOT usually rely on…
Edge-device co-inference, which concerns the cooperation between edge devices and an edge server for completing inference tasks over wireless networks, has been a promising technique for enabling various kinds of intelligent services at the…
Training data-driven approaches for complex industrial system health monitoring is challenging. When data on faulty conditions are rare or not available, the training has to be performed in a unsupervised manner. In addition, when the…
We introduce a new methodology for a fast and reliable discrimination between ordered and chaotic orbits in multidimensional Hamiltonian systems which we call the Linear Dependence Index (LDI). The new method is based on the recently…
This paper concerns fault-tolerant power transmission line inspection planning as a generalization of the multiple traveling salesmen problem. The addressed inspection planning problem is formulated as a single-depot multiple-vehicle…
Object detectors in real-world applications often fail to detect objects due to varying factors such as weather conditions and noisy input. Therefore, a process that mitigates false detections is crucial for both safety and accuracy. While…
This paper presents a novel information-based mission planner for a drone tasked to monitor a spatially distributed dynamical phenomenon. For the sake of simplicity, the area to be monitored is discretized. The insight behind the proposed…
A class of data integrity attack, known as false data injection (FDI) attack, has been studied with a considerable amount of work. It has shown that with perfect knowledge of the system model and the capability to manipulate a certain…
This study explores an energy-efficient control strategy for spacecraft inspection using a fuzzy inference system combined with a bio-inspired optimization technique to incorporate learning capability into the control process. The optimized…
The false data injection (FDI) attack cannot be detected by the traditional anomaly detection techniques used in the energy system state estimators. In this paper, we demonstrate how FDI attacks can be constructed blindly, i.e., without…
Sensor calibration usually is a time consuming yet important task. While classical approaches are sensor-specific and often need calibration targets as well as a widely overlapping field of view (FOV), within this work, a cooperative…
Our Robust, Explainable Autonomy for Scientific Icy Moon Operations (REASIMO) effort contributes to NASA's Concepts for Ocean worlds Life Detection Technology (COLDTech) program, which explores science platform technologies for ocean worlds…
For tasks conducted in unknown environments with efficiency requirements, real-time navigation of multi-robot systems remains challenging due to unfamiliarity with surroundings.In this paper, we propose a novel multi-robot collaborative…
In autonomous driving, recent research has increasingly focused on collaborative perception based on deep learning to overcome the limitations of individual perception systems. Although these methods achieve high accuracy, they rely on high…
This paper investigates runtime monitoring of perception systems. Perception is a critical component of high-integrity applications of robotics and autonomous systems, such as self-driving cars. In these applications, failure of perception…
The Internet of Things (IoT) connects millions of devices of different cyber-physical systems (CPSs) providing the CPSs additional (implicit) redundancy during runtime. However, the increasing level of dynamicity, heterogeneity, and…
This paper introduces a novel two-stage framework for online mitigation of False Data Injection (FDI) signals to improve the resiliency of Networked Control Systems (NCSs) and ensure their safe operation in the presence of malicious…