相关论文: Attack-resilient observer pruning for path-trackin…
This paper proposes a novel safety specification tool, called the distributionally robust risk map (DR-risk map), for a mobile robot operating in a learning-enabled environment. Given the robot's position, the map aims to reliably assess…
Network intrusion detection is one of the most important issues in the field of cyber security, and various machine learning techniques have been applied to build intrusion detection systems. However, since the number of features to…
In this paper, we present a contraction-guided adaptive partitioning algorithm for improving interval-valued robust reachable set estimates in a nonlinear feedback loop with a neural network controller and disturbances. Based on an estimate…
In this paper, we consider two coupled problems for distributed multi-robot systems (MRSs) coordinating with limited field of view (FOV) sensors: adaptive tuning of interaction gains and rejection of sensor attacks. First, a typical…
Ramp metering is the act of controlling on-going vehicles to the highway mainlines. Decades of practices of ramp metering have proved that ramp metering can decrease total travel time, mitigate shockwaves, decrease rear-end collisions by…
A new path planning method for Mobile Robots (MR) has been developed and implemented. On the one hand, based on the shortest path from the start point to the goal point, this path planner can choose the best moving directions of the MR,…
The research presents an automated method for determining the trajectory of an unmanned aerial vehicle (UAV) for wind turbine inspection. The proposed method enables efficient data collection from multiple wind installations using UAV…
This paper introduces an innovative observer-based modular control strategy in a class of n_a-degree-of-freedom (DoF) fully electrified heavy-duty robotic manipulators (HDRMs) to (1) guarantee robustness in the presence of uncertainties and…
The rapid growth of resource-constrained mobile platforms, including mobile robots, wearable systems, and Internet-of-Things devices, has increased the demand for computationally efficient neural network controllers (NNCs) that can operate…
Visual exploration and smart data collection via autonomous vehicles is an attractive topic in various disciplines. Disturbances like wind significantly influence both the power consumption of the flying robots and the performance of the…
Deep neural networks are known to be susceptible to adversarial perturbations -- small perturbations that alter the output of the network and exist under strict norm limitations. While such perturbations are usually discussed as tailored to…
Neural network-based visuomotor policies enable robots to perform manipulation tasks but remain susceptible to perceptual attacks. For example, conventional 2D adversarial patches are effective under fixed-camera setups, where appearance is…
In this paper, we apply the Non-Orthogonal Multiple Access (NOMA) technique to improve the massive channel access of a wireless IoT network where solar-powered Unmanned Aerial Vehicles (UAVs) relay data from IoT devices to remote servers.…
The learning inefficiency of reinforcement learning (RL) from scratch hinders its practical application towards continuous robotic tracking control, especially for high-dimensional robots. This work proposes a data-informed residual…
Robotic manipulation with Vision-Language-Action models requires efficient inference over long-horizon multi-modal context, where attention to dense visual tokens dominates computational cost. Existing methods optimize inference speed by…
This paper presents a novel information-based mission planner for a drone tasked to monitor a spatially distributed dynamical phenomenon. For the sake of simplicity, the area to be monitored is discretized. The insight behind the proposed…
Website fingerprinting attack (WFA) aims to deanonymize the website a user is visiting through anonymous networks channels (e.g., Tor). Despite of remarkable progress in the past years, most existing methods make implicitly a couple of…
Face Recognition Systems (FRS) are vulnerable to various attacks performed directly and indirectly. Among these attacks, face morphing attacks are highly potential in deceiving automatic FRS and human observers and indicate a severe…
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…
Rate-splitting multiple access (RSMA) has been proven as an effective communication scheme for 5G and beyond. However, current approaches to RSMA resource management require complicated iterative algorithms, which cannot meet the stringent…