相关论文: Attack-resilient observer pruning for path-trackin…

Several recent studies have demonstrated the promise of deep visuomotor policies for robot manipulator control. Despite impressive progress, these systems are known to be vulnerable to physical disturbances, such as accidental or…

This paper presents a modification of the data-driven sensor-based fault detection and diagnosis (SFDD) algorithm for online robot monitoring. Our version of the algorithm uses a collection of generative models, in particular restricted…

With the large number of antennas and subcarriers the overhead due to pilot transmission for channel estimation can be prohibitive in wideband massive multiple-input multiple-output (MIMO) systems. This can degrade the overall spectral…

Pruning is a promising approach to compress deep learning models in order to deploy them on resource-constrained edge devices. However, many existing pruning solutions are based on unstructured pruning, which yields models that cannot…

Given the rapid advances in unmanned aerial vehicles, or drones, and increasing need to monitor traffic at a city level, one of the current research gaps is how to systematically deploy drones over multiple periods. We propose a real-time…

Visual inertial odometry (VIO) is widely used for the state estimation of multicopters, but it may function poorly in environments with few visual features or in overly aggressive flights. In this work, we propose a perception-aware…

In this article, we present a distributed algorithm for multi-robot persistent monitoring and target detection. In particular, we propose a novel solution that effectively integrates the Time-inverted Kuramoto model, three-dimensional…

Object reconstruction and inspection tasks play a crucial role in various robotics applications. Identifying paths that reveal the most unknown areas of the object is paramount in this context, as it directly affects reconstruction…

Monitoring crop fields to map features like weeds can be efficiently performed with unmanned aerial vehicles (UAVs) that can cover large areas in a short time due to their privileged perspective and motion speed. However, the need for…

The demand for accurate and fast trajectory tracking for multirotor Unmanned Aerial Vehicles (UAVs) have grown recently due to advances in UAV avionics technology and application domains. In many applications, the multirotor UAV is required…

This paper investigates the problem of traffic surveillance using an unmanned aerial vehicle (UAV) and proposes a domain-knowledge-aided airborne ground moving targets tracking algorithm. To improve the accuracy of multiple targets…

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…

Tool flank wear monitoring can minimize machining downtime costs while increasing productivity and product quality. In some industrial applications, only a limited level of tool wear is allowed to attain necessary tolerances. It may become…

The growing complexity of cyber threats has rendered static firewalls increasingly ineffective for dynamic, real-time intrusion prevention. This paper proposes a novel AI-driven dynamic firewall optimization framework that leverages deep…

Fast and accurate detection of cyberattacks is a key element for a cyber-resilient power system. Recently, data-driven detectors and physics-based Moving Target Defences (MTD) have been proposed to detect false data injection (FDI) attacks…

The cybersecurity of microgrid has received widespread attentions due to the frequently reported attack accidents against distributed energy resource (DER) manufactures. Numerous impact mitigation schemes have been proposed to reduce or…

Component inspection is often the bottleneck in high-value manufacturing, driving industries like aerospace toward automated inspection technologies. Current systems often employ fixed arm robots, but they lack the flexibility in adapting…

Trajectory planning is challenging for autonomous cars since they operate in unpredictable environments with limited sensor horizons. To incorporate new information as it is sensed, planning is done in a loop, with the next plan being…

We consider the problem of energy balancing in a clustered wireless sensor network (WSN) deployed randomly in a large field and aided by a mobile robot (MR). The sensor nodes (SNs) are tasked to monitor a region of interest (ROI) and report…

Malicious attackers can generate targeted adversarial examples by imposing tiny noises, forcing neural networks to produce specific incorrect outputs. With cross-model transferability, network models remain vulnerable even in black-box…