Related papers: Resilient Interval Observer-Based Control for Coop…
A resilient distributed algorithm is proposed to solve the distributed resource allocation problem of a first-order nonlinear multi-agent system who is subject to false data injection (FDI) attacks. An intelligent attacker injects false…
Various control strategies and field experiments have been designed for connected and automated vehicles (CAVs) to stabilize mixed traffic that contains both CAVs and Human-driven Vehicles (HVs). The effect of these stabilizing CAV control…
This paper proposes a cooperative integrated estimation-guidance framework for simultaneous interception of a non-maneuvering target using a team of unmanned autonomous vehicles, assuming only a subset of vehicles are equipped with…
Attacks on Industrial Control Systems (ICS) can lead to significant physical damage. While offline safety and security assessments can provide insight into vulnerable system components, they may not account for stealthy attacks designed to…
The extensive use of distributed vehicle platoon controllers has resulted in several benefits for transportation systems, such as increased traffic flow, fuel efficiency, and decreased pollution. The rising reliance on interconnected…
The advancement of automated vehicles introduces complex safety challenges, particularly in dynamic and unpredictable environments where AI-enabled perception systems must operate reliably. Ensuring compliance with safety standards such as…
This paper studies the value of communicated motion predictions in the longitudinal control of connected automated vehicles (CAVs). We focus on a safe cooperative adaptive cruise control (CACC) design and analyze the value of…
Control Barrier Functions (CBFs) provide a powerful framework for ensuring safety in dynamical systems. However, their application typically relies on full state information, which is often violated in real-world due to the availability of…
Nowadays, vehicles have complex in-vehicle networks (IVNs) with millions of lines of code controlling almost every function in the vehicle including safety-critical functions. It has recently been shown that IVNs are becoming increasingly…
This work presents a global-to-local, task-aware fault detection and identification (FDI) framework for multi-spacecraft systems conducting collaborative inspection missions in low Earth orbit. The inspection task is represented by a global…
Abrupt maneuvers by surrounding vehicles (SVs) can typically lead to safety concerns and affect the task efficiency of the ego vehicle (EV), especially with model uncertainties stemming from environmental disturbances. This paper presents a…
Connected and Autonomous Vehicles (CAVs) with their evolving data gathering capabilities will play a significant role in road safety and efficiency applications supported by Intelligent Transport Systems (ITS), such as Traffic Signal…
This paper studies cooperative adaptive cruise control (CACC) for vehicle platoons with consideration of the unknown nonlinear vehicle dynamics that are normally ignored in the literature. A unified data-driven CACC design is proposed for…
This paper presents the development of a tangible platform for demonstrating the practical implementation of cooperative adaptive cruise control (CACC) systems, an enhancement to the standard adaptive cruise control (ACC) concept by means…
This paper proposes a robust disturbance observer framework for maritime autonomous surface vessels considering model and measurement uncertainties. The core contribution lies in a nonlinear disturbance observer, reconstructing the forces…
A path tracking control system is chosen as the proof-of-concept demonstration application in this paper. A disturbance observer (DOB) is embedded within the steering to path error automated driving loop to handle uncertain parameters such…
Collaborative perception (CP) enables data sharing among connected and autonomous vehicles (CAVs) to enhance driving safety. However, CP systems are vulnerable to adversarial attacks where malicious agents forge false objects via…
The advancements in autonomous driving technology, coupled with the growing interest from automotive manufacturers and tech companies, suggest a rising adoption of Connected Autonomous Vehicles (CAVs) in the near future. Despite some…
In this paper, we present a novel information processing architecture for safe deep learning-based visual navigation of autonomous systems. The proposed information processing architecture is used to support a perceptual attention-based…
This article investigates the robustness of vision systems in Connected and Autonomous Vehicles (CAVs), which is critical for developing Level-5 autonomous driving capabilities. Safe and reliable CAV navigation undeniably depends on robust…