Related papers: Multi-Hypotheses Ego-Tracking for Resilient Naviga…
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…
We propose an efficient random finite set (RFS) based algorithm for multiobject tracking in which the object states are modeled by a combination of a labeled multi-Bernoulli (LMB) RFS and a Poisson RFS. The less computationally demanding…
Local or reactive navigation is essential for autonomous mobile robots which operate in an indoor environment. Techniques such as SLAM, computer vision require significant computational power which increases cost. Similarly, using…
This paper concerns the consensus and formation of a network of mobile autonomous agents in adversarial settings where a group of malicious (compromised) agents are subject to deception attacks. In addition, the communication network is…
Vehicle-to-everything (V2X) communication is expected to be a prominent component of the sixth generation (6G) to accomplish intelligent transportation systems (ITS). Autonomous vehicles relying only on onboard sensors cannot bypass the…
In a spoofing attack, a malicious actor impersonates a legitimate user to access or manipulate data without authorization. The vulnerability of cryptographic security mechanisms to compromised user credentials motivates spoofing attack…
Traversability estimation is critical for enabling robots to navigate across diverse terrains and environments. While recent self-supervised learning methods achieve promising results, they often fail to capture the characteristics of…
In this letter, a resilient path planning scheme is proposed to navigate a UAV to the planned (nominal) destination with minimum energy-consumption in the presence of a smart attacker. The UAV is equipped with two sensors, a GPS sensor,…
Civilian Global Navigation Satellite Systems (GNSS) vulnerabilities are a threat to a wide gamut of critical systems. GNSS receivers, as part of the encompassing platform, can leverage external information to detect GNSS attacks.…
Localization of a radio frequency (RF) transmitter with intermittent transmissions is considered via a group of unmanned aerial vehicles (UAVs) equipped with omnidirectional received signal strength (RSS) sensors. This group embarks on an…
Position sensors, such as the gyroscope, the magnetometer and the accelerometer, are found in a staggering variety of devices, from smartphones and UAVs to autonomous robots. Several works have shown how adversaries can mount spoofing…
For reliable operation, next generation autonomous agents will need enhanced situational perception as well as precise navigation capabilities. The global navigation satellite system (GNSS) signals that are utilized by practically all…
Cellular-based Unmanned Aerial Vehicle (UAV) systems are a promising paradigm to provide reliable and fast Beyond Visual Line of Sight (BVLoS) communication services for UAV operations. However, such systems are facing a serious GPS…
Global Navigation Satellite Systems enable precise localization and timing even for highly mobile devices, but legacy implementations provide only limited support for the new generation of security-enhanced signals. Inertial Measurement…
The vulnerabilities associated with modern systems relying on Global Navigation Satellite Systems (GNSS) due to intentional and unintentional interference is an increasing threat. Since radio frequency interference (RFI) significantly…
This paper presents a framework addressing the challenge of global localization in autonomous mobile robotics by integrating LiDAR-based descriptors and Wi-Fi fingerprinting in a pre-mapped environment. This is motivated by the increasing…
Prior research has demonstrated that global positioning system (GPS) spoofing attacks on phasor measurement units (PMUs) can cripple power system operation. This paper provides an experimental evidence of the feasibility of such an attack…
Autonomous Vehicles rely on accurate and robust sensor observations for safety critical decision-making in a variety of conditions. Fundamental building blocks of such systems are sensors and classifiers that process ultrasound, RADAR, GPS,…
We propose a simple low-cost technique that enables civil Global Positioning System (GPS) receivers and other civil global navigation satellite system (GNSS) receivers to reliably detect carry-off spoofing and jamming. The technique, which…
Ensuring the reliability of machine learning-based intrusion detection systems remains a critical challenge in Internet of Things (IoT) environments, particularly as data poisoning attacks increasingly threaten the integrity of model…