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Robust localization in dense urban scenarios using a low-cost sensor setup and sparse HD maps is highly relevant for the current advances in autonomous driving, but remains a challenging topic in research. We present a novel monocular…
In this paper, we propose a fault detection and isolation based attack-aware multi-sensor integration algorithm for the detection of cyberattacks in autonomous vehicle navigation systems. The proposed algorithm uses an extended Kalman…
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…
Global Positioning System (GPS) is used ubiquitously in a wide variety of applications ranging from navigation and tracking to modern smart grids and communication networks. However, it has been demonstrated that modern GPS receivers are…
This paper proposes a navigation method considering blind spots based on the robot operating system (ROS) navigation stack and blind spots layer (BSL) for a wheeled mobile robot. In this paper, environmental information is recognized using…
This paper addresses the adaptive radar target detection problem in the presence of Gaussian interference with unknown statistical properties. To this end, the problem is first formulated as a binary hypothesis test, and then we derive a…
We propose a method to tackle the problem of mapless collision-avoidance navigation where humans are present using 2D laser scans. Our proposed method uses ego-safety to measure collision from the robot's perspective while social-safety to…
In recent years, a number of process-based anomaly detection schemes for Industrial Control Systems were proposed. In this work, we provide the first systematic analysis of such schemes, and introduce a taxonomy of properties that are…
SpoofTrackBench is a reproducible, modular benchmark for evaluating adversarial robustness in real-time localization and tracking (RTLS) systems under radar spoofing. Leveraging the Hampton University Skyler Radar Sensor dataset, we…
Reliable geolocation of non-cooperative emitters in environments where Global Navigation Satellite Systems (GNSS) are unavailable or degraded is a key enabler for spectrum regulation, emergency response, autonomous mobility, and Integrated…
This letter investigates secure transmission in an intelligent reflecting surface (IRS) assisted non-orthogonal multiple access (NOMA) network. Consider a practical eavesdropping scenario with imperfect channel state information of the…
This paper describes a technique for the autonomous mission planning of robotic swarms in high risk environments where agent disablement is likely. Given a swarm operating in a known area, a central command system generates measurements…
Complex autonomous control systems are subjected to sensor failures, cyber-attacks, sensor noise, communication channel failures, etc. that introduce errors in the measurements. The corrupted information, if used for making decisions, can…
Wireless mesh networks (WMNs) are evolving as a key technology for next-generation wireless networks showing raid progress and numerous applications. These networks have the potential to provide robust and high-throughput data delivery to…
GNSS receivers are vulnerable to jamming and spoofing attacks, and numerous such incidents have been reported worldwide in the last decade. It is important to detect attacks fast and localize attackers, which can be hard if not impossible…
The potential of Reconfigurable Intelligent Surfaces (RISs) for energy-efficient and performance-boosted wireless communications is recently gaining remarkable research attention, motivating their consideration for various $5$-th Generation…
Machine learning provides automated means to capture complex dynamics of wireless spectrum and support better understanding of spectrum resources and their efficient utilization. As communication systems become smarter with cognitive radio…
As autonomous driving and augmented reality evolve, a practical concern is data privacy. In particular, these applications rely on localization based on user images. The widely adopted technology uses local feature descriptors, which are…
Autonomous vehicles rely on LiDAR sensors to detect obstacles such as pedestrians, other vehicles, and fixed infrastructures. LiDAR spoofing attacks have been demonstrated that either create erroneous obstacles or prevent detection of real…
Autonomous vehicles require reliable hazard detection. However, primary sensor systems may miss near-field obstacles, resulting in safety risks. Although a dedicated fast-reacting near-field monitoring system can mitigate this, it typically…