Related papers: Cyber-Resilient Data-Driven Event-Triggered Secure…
To operate effectively in tomorrow's smart cities, autonomous vehicles (AVs) must rely on intra-vehicle sensors such as camera and radar as well as inter-vehicle communication. Such dependence on sensors and communication links exposes AVs…
This paper proposes a vehicular platoon control approach under Denial-of-Service (DoS) attacks and external disturbances. DoS attacks increase the service time on the communication network and cause additional transmission delays, which…
An adaptive traffic signal controller (ATSC) combined with a connected vehicle (CV) concept uses real-time vehicle trajectory data to regulate green time and has the ability to reduce intersection waiting time significantly and thereby…
This paper presents a novel methodology to enforce motion safety guarantees even in the event of a sudden loss of control capabilities by any agent within a multi-agent system. This passive safety methodology permits the replacement of…
We present a framework for model-free learning of event-triggered control strategies. Event-triggered methods aim to achieve high control performance while only closing the feedback loop when needed. This enables resource savings, e.g.,…
This paper addresses the dynamic event-triggered control for a class of discrete-time nonlinear systems described by a difference-algebraic representation (DAR), using a gain-scheduled controller. An outstanding aspect of the proposed…
Increasing automation in vehicles enabled by increased connectivity to the outside world has exposed vulnerabilities in previously siloed automotive networks like controller area networks (CAN). Attributes of CAN such as broadcast-based…
Dynamic watermarking schemes can enhance the cyber attack detection capability of networked control systems (NCSs). This paper presents a linear event-triggered solution to conventional dynamic watermarking (CDW) schemes. Firstly, the…
Small-Signal Stability (SSS) is crucial for the control of power grids. However, False Data Injection (FDI) attacks against SSS can impact the grid stability, hence, the security of SSS needs to be studied. This paper proposes a formal…
This article concerns the development of the Vector Field Orientation - Active Disturbance Rejection (VFO-ADR) cascaded path-following controller for underactuated vehicles moving in a 3-dimensional space. The proposed concept of a cascaded…
In this paper, we consider the problem of attack-resilient state estimation, that is to reliably estimate the true system states despite two classes of attacks: (i) attacks on the switching mechanisms and (ii) false data injection attacks…
In this brief, an improved event-triggered update mechanism (ETM) for the linear quadratic regulator is proposed to solve the lateral motion control problem of intelligent vehicle under bounded disturbances. Based on a novel event function…
Emergency vehicle (EV) response time is a critical determinant of survival outcomes, yet deployed signal preemption strategies remain reactive and uncontrollable. We propose a return-conditioned framework for emergency corridor optimization…
In this paper, we consider a class of denial-of-service (DoS) attacks, which aims at overloading the communication channel. On top of the security issue, continuous or periodic transmission of information within feedback loop is necessary…
Modern vehicles are increasingly vulnerable to attacks that exploit network infrastructures, particularly the Controller Area Network (CAN) networks. To effectively counter such threats using contemporary tools like Intrusion Detection…
The surging usage of electric vehicles (EVs) demand the robust deployment of trustworthy electric vehicle charging station (EVCS) with millisecond range latency and massive machine to machine communications where 5G could act. However, 5G…
Micro Autonomous Surface Vehicles (MicroASVs) offer significant potential for operations in confined or shallow waters and swarm robotics applications. However, achieving precise and robust control at such small scales remains highly…
Numerous safety- or security-critical systems depend on cameras to perceive their surroundings, further allowing artificial intelligence (AI) to analyze the captured images to make important decisions. However, a concerning attack vector…
Data-driven predictive control of connected and automated vehicles (CAVs) has received increasing attention as it can achieve safe and optimal control without relying on explicit dynamical models. However, employing the data-driven strategy…
With the advancement of autonomous driving, ensuring safety during motion planning and navigation is becoming more and more important. However, most end-to-end planning methods suffer from a lack of safety. This research addresses the…