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Global Navigation Satellite System (GNSS) spoofing and jamming threaten maritime navigation by corrupting positions from Automatic Identification System (AIS) transponders. Crucially, raw AIS messages contain communication-layer defects…
Autonomous navigation consists in an agent being able to navigate without human intervention or supervision, it affects both high level planning and low level control. Navigation is at the crossroad of multiple disciplines, it combines…
This paper investigates the resilience of perception-based multi-robot coordination with wireless communication to online adversarial perception. A systematic study of this problem is essential for many safety-critical robotic applications…
For reliable operation on urban roads, navigation using the Global Navigation Satellite System (GNSS) requires both accurately estimating the positioning detail from GNSS pseudorange measurements and determining when the estimated position…
We present an approach for autonomous sensor control for information gathering under partially observable, dynamic and sparsely sampled environments that maximizes information about entities present in that space. We describe our approach…
As location-based applications become ubiquitous in emerging wireless networks, Location Verification Systems (LVS) are of growing importance. In this paper we propose, for the first time, a rigorous information-theoretic framework for an…
In this paper we are interested in the task of searching and tracking multiple moving targets in a bounded surveillance area with a group of autonomous mobile agents. More specifically, we assume that targets can appear and disappear at…
Wireless sensor networks (WSN) are widely used in vehicular networks to support Vehicle-to-Everything (V2X) communications. Wireless sensors in vehicular networks support sensing and monitoring of various environmental factors and vehicle…
Psychometric assessment instruments aid clinicians by providing methods of assessing the future risk of adverse events such as aggression. Existing machine learning approaches have treated this as a classification problem, predicting the…
Urban environments offer a challenging scenario for autonomous driving. Globally localizing information, such as a GPS signal, can be unreliable due to signal shadowing and multipath errors. Detailed a priori maps of the environment with…
In multi-robot systems (MRS), cooperative localization is a crucial task for enhancing system robustness and scalability, especially in GPS-denied or communication-limited environments. However, adversarial attacks, such as sensor…
The paper presents a distributed algorithm, called Prediction-based Opportunistic Sensing for Resilient and Efficient Sensor Networks (POSE.R), where the sensor nodes utilize predictions of the targets positions to probabilistically control…
This paper studies sensor placement when detection performance varies stochastically due to environmental factors over space and time and false alarms are present, but a filter is used to attenuate the effect. We introduce a unified model…
Deep reinforcement learning has great potential to acquire complex, adaptive behaviors for autonomous agents automatically. However, the underlying neural network polices have not been widely deployed in real-world applications, especially…
Drones are a promising technology for autonomous data collection and indoor sensing. In situations when human-controlled UAVs may not be practical or dependable, such as in uncharted or dangerous locations, the usage of autonomous UAVs…
We present a novel trajectory traversability estimation and planning algorithm for robot navigation in complex outdoor environments. We incorporate multimodal sensory inputs from an RGB camera, 3D LiDAR, and the robot's odometry sensor to…
Navigation and guidance of autonomous vehicles is a fundamental problem in robotics, which has attracted intensive research in recent decades. This report is mainly concerned with provable collision avoidance of multiple autonomous vehicles…
Global navigation satellite systems (GNSSs) are implementing security mechanisms: examples are Galileo open service navigation message authentication (OS-NMA) and GPS chips-message robust authentication (CHIMERA). Each of these mechanisms…
This report deals with security in wireless sensor networks (WSNs), especially in network layer. Multiple secure routing protocols have been proposed in the literature. However, they often use the cryptography to secure routing…
Predicting the safety of urban roads for navigation via global navigation satellite systems (GNSS) signals is considered. To ensure safe driving of automated vehicles, the vehicle must plan its trajectory to avoid navigating on unsafe roads…