Related papers: Resilient Interval Observer-Based Control for Coop…
This paper considers a resilient state estimation framework for unmanned aerial vehicles (UAVs) that integrates a Kalman filter-like state estimator and an attack detector. When an attack is detected, the state estimator uses only IMU…
Future Connected and Automated Vehicles (CAV), and more generally ITS, will form a highly interconnected system. Such a paradigm is referred to as the Internet of Vehicles (herein Internet of CAVs) and is a prerequisite to orchestrate…
This paper presents a hybrid data-driven physics model-based framework for real time monitoring in smart grids. As the power grid transitions to the use of smart grid technology, it's real time monitoring becomes more vulnerable to cyber…
The rise of cyber-security concerns has brought significant attention to the analysis and design of cyber-physical systems (CPSs). Among the various types of cyberattacks, denial-of-service (DoS) attacks and false data injection (FDI)…
This paper deals with the problem of robust fault estimation for the Lipschitz nonlinear systems under the influence of sensor faults and actuator faults. In the proposed methodology, a descriptor system is formulated by augmenting sensor…
The design of safe-critical control algorithms for systems under Denial-of-Service (DoS) attacks on the system output is studied in this work. We aim to address scenarios where attack-mitigation approaches are not feasible, and the system…
Collaborative perception allows connected and autonomous vehicles (CAVs) to improve perception by sharing sensory data, but it also introduces security risks from manipulated inputs. Prior work shows that attackers can spoof or remove…
We study the problem of designing interval-valued observers that simultaneously estimate the system state and learn an unknown dynamic model for partially unknown nonlinear systems with dynamic unknown inputs and bounded noise signals.…
Cooperative Adaptive Cruise Control (CACC) is a fundamental connected vehicle application that extends Adaptive Cruise Control by exploiting vehicle-to-vehicle (V2V) communication. CACC is a crucial ingredient for numerous autonomous…
We propose a novel framework for designing a resilient Model Predictive Control (MPC) targeting uncertain linear systems under cyber attack. Assuming a periodic attack scenario, we model the system under Denial of Service (DoS) attack, also…
Autonomous vehicles are increasingly deployed in safety-critical applications, where sensing failures or cyberphysical attacks can lead to unsafe operations resulting in human loss and/or severe physical damages. Reliable real-time…
This paper addresses the synthesis of interval observers for partially unknown nonlinear systems subject to bounded noise, aiming to simultaneously estimate system states and learn a model of the unknown dynamics. Our approach leverages…
Safe control in dynamic traffic environments remains a major challenge for autonomous vehicles (AVs), as ego vehicle and obstacle states are inherently affected by sensing noise and estimation uncertainty. However, existing studies have not…
Temporal perception, defined as the capability to detect and track objects across temporal sequences, serves as a fundamental component in autonomous driving systems. While single-vehicle perception systems encounter limitations, stemming…
Connected and autonomous vehicles (CAVs) promise next-gen transportation systems with enhanced safety, energy efficiency, and sustainability. One typical control strategy for CAVs is the so-called cooperative adaptive cruise control (CACC)…
This paper introduces a novel two-stage framework for online mitigation of False Data Injection (FDI) signals to improve the resiliency of Networked Control Systems (NCSs) and ensure their safe operation in the presence of malicious…
The vehicular connectivity revolution is fueling the automotive industry's most significant transformation seen in decades. However, as modern vehicles become more connected, they also become much more vulnerable to cyber-attacks. In this…
The growing integration of vehicles with external networks has led to a surge in attacks targeting their Controller Area Network (CAN) internal bus. As a countermeasure, various Intrusion Detection Systems (IDSs) have been suggested in the…
Adaptive Cruise Control (ACC) is an Advanced Driver Assistance System (ADAS) that enables vehicle following with desired inter-vehicular distances. Cooperative Adaptive Cruise Control (CACC) is upgraded ACC that utilizes additional…
The state estimation of continuous-time nonlinear systems in which a subset of sensor outputs can be maliciously controlled through injecting a potentially unbounded additive signal is considered in this paper. Analogous to our earlier work…