Related papers: Resilient Interval Observer-Based Control for Coop…
This work considers the problem of calculating an interval-valued state estimate for a nonlinear system subject to bounded inputs and measurement errors. Such state estimators are often called interval observers. Interval observers can be…
Under a changing driving environment, a Connected Autonomous Vehicle (CAV) platoon relies strongly on the acquisition of accurate traffic information from neighboring vehicles as well as reliable commands from a centralized supervisory…
Existing data collection methods for traffic operations and control usually rely on infrastructure-based loop detectors or probe vehicle trajectories. Connected and automated vehicles (CAVs) not only can report data about themselves but…
We address the problem of state estimation and attack isolation for general discrete-time nonlinear systems when sensors are corrupted by (potentially unbounded) attack signals. For a large class of nonlinear plants and observers, we…
With the rapid development of Connected and Automated Vehicle (CAV) technology, limited self-driving vehicles have been commercially available in certain leading intelligent transportation system countries. When formulating the…
Inertial Navigation Systems (INS) are algorithms that fuse inertial measurements of angular velocity and specific acceleration with supplementary sensors including GNSS and magnetometers to estimate the position, velocity and attitude, or…
While the design of optimal peak-to-peak controllers/observers for linear systems is known to be a difficult problem, this problem becomes interestingly much easier in the context of interval observers because of the positive nature of the…
Data-driven predictive control promises model-free wave-dampening strategies for Connected and Autonomous Vehicles (CAVs) in mixed traffic flow. However, its performance relies on data quality, which suffers from unknown noise and…
As Intelligent Transportation System (ITS) develops, Connected and Automated Vehicles (CAVs) are expected to significantly reduce traffic congestion through cooperative strategies, such as in bottleneck areas. However, the uncertainty and…
Connected and autonomous vehicles (CAVs) are promising due to their potential safety and efficiency benefits and have attracted massive investment and interest from government agencies, industry, and academia. With more computing and…
Autonomous Vehicles (AVs) increasingly depend on Multi-Sensor Fusion (MSF) to combine complementary modalities such as cameras and LiDAR for robust perception. While this redundancy is intended to safeguard against single-sensor failures,…
The rise of IoT has made possible the development of %increasingly personalized services, like industrial services that often deal with massive amounts of data. However, as IoT grows, its threats are even greater. The false data injection…
Achieving both safety guarantees and real-time performance in cooperative vehicle coordination remains a fundamental challenge, particularly in dynamic and uncertain environments. Existing methods often suffer from insufficient uncertainty…
Connected and autonomous vehicles (CAVs) can reduce human errors in traffic accidents, increase road efficiency, and execute various tasks ranging from delivery to smart city surveillance. Reaping these benefits requires CAVs to…
Cybersecurity of Industrial Cyber-Physical Systems is drawing significant concerns as data communication increasingly leverages wireless networks. A lot of data-driven methods were develope for detecting cyberattacks, but few are focused on…
This paper is concerned with the problem of secure multi-sensors fusion estimation for cyber-physical systems, where sensor measurements may be tampered with by false data injection (FDI) attacks. In this work, it is considered that the…
This paper develops a cooperative fault-tolerant tracking framework for heterogeneous networked linear systems subject to sensor faults and external disturbances. Each unit employs an augmented $\mathcal{H}_\infty$ observer that jointly…
Controller Area Network (CAN) is an essential networking protocol that connects multiple electronic control units (ECUs) in a vehicle. However, CAN-based in-vehicle networks (IVNs) face security risks owing to the CAN mechanisms. An…
This paper presents a detection algorithm for sensor attacks and a resilient state estimation scheme for a class of uniformly observable nonlinear systems. An adversary is supposed to corrupt a subset of sensors with the possibly unbounded…
Input delays affect systems such as teleoperation and wirelessly autonomous connected vehicles, and may lead to safety violations. One promising way to ensure safety in the presence of delay is to employ control barrier functions (CBFs),…