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To navigate safely in urban environments, an autonomous vehicle (ego vehicle) must understand and anticipate its surroundings, in particular the behavior and intents of other road users (neighbors). Most of the times, multiple decision…

This paper investigates whether large-scale GNSS spoofing activity can be inferred from maritime Automatic Identification System (AIS) position reports. A data-processing framework, called SeaSpoofFinder, available here:…

In the absence of an absolute positioning system, such as GPS, autonomous vehicles are subject to accumulation of positional error which can interfere with reliable performance. Improved navigational accuracy without GPS enables vehicles to…

We present a framework for bridging the gap between sensor attack detection and recovery in cyber-physical systems. The proposed framework models modern-day, complex perception pipelines as bipartite graphs, which combined with anomaly…

Autonomous agents deployed in the real world need to be robust against adversarial attacks on sensory inputs. Robustifying agent policies requires anticipating the strongest attacks possible. We demonstrate that existing observation-space…

Coordination of multi-robot systems (MRSs) relies on efficient sensing and reliable communication among the robots. However, the sensors and communication channels of these robots are often vulnerable to cyberattacks and faults, which can…

For autonomous mobile robots, uncertainties in the environment and system model can lead to failure in the motion planning pipeline, resulting in potential collisions. In order to achieve a high level of robust autonomy, these robots should…

This paper proposes a novel positioning technique suitable for use in mobile robots in urban environments in which large global navigation satellite system (GNSS) positioning errors occur because of multipath signals. During GNSS…

Open, unclassified research on secure autonomy is constrained by limited access to operational platforms, contested communications infrastructure, and representative adversarial test conditions. This paper presents a threat-oriented digital…

We consider the problem of detecting, in the visual sensing data stream of an autonomous mobile robot, semantic patterns that are unusual (i.e., anomalous) with respect to the robot's previous experience in similar environments. These…

Many vehicle platforms typically use sensors such as LiDAR or camera for locally-referenced navigation with GPS for globally-referenced navigation. However, due to the unencrypted nature of GPS signals, all civilian users are vulner-able to…

In order to combat the spoofing of global navigation satellite system (GNSS) signals we propose a novel approach for satellite signal authentication based on information-theoretic security. In particular we superimpose to the navigation…

Radio frequency (RF) sensors are used alongside other sensing modalities to provide rich representations of the world. Given the high variability of complex-valued target responses, RF systems are susceptible to attacks masking true target…

The ability of robots to estimate their location is crucial for a wide variety of autonomous operations. In settings where GPS is unavailable, measurements of transmissions from fixed beacons provide an effective means of estimating a…

There has been substantial growth in the UAV market along with an expansion in their applications. However, the successful execution of a UAV mission is very often dependent on the use of a GNSS. Unfortunately, the vulnerability of GNSS…

Malicious attacks on modern autonomous cyber-physical systems (CPSs) can leverage information about the system dynamics and noise characteristics to hide while hijacking the system toward undesired states. Given attacks attempting to hide…

Cooperative localization is fundamental to autonomous multirobot systems, but most algorithms couple inter-robot communication with observation, making these algorithms susceptible to failures in both communication and observation steps. To…

Reconfigurable intelligent surface (RIS) technology is emerging as a promising technique for performance enhancement for next-generation wireless networks. This paper investigates the physical layer security of an RIS-assisted…

The unprecedented sensitivity of the Laser Interferometer Gravitational-Wave Observatory, which enables the detection of distant astrophysical sources, also renders the detectors highly susceptible to low-frequency ground motion. Persistent…

Ultra-wideband (UWB) ranging has emerged as a key radio technology for robot positioning and relative localization in multi-robot systems. Multiple works are now advancing towards more scalable systems, but challenges still remain. This…