相关论文: GPS Spoofing Mitigation and Timing Risk Analysis i…

This paper studies the distributed state estimation problem for a class of discrete-time stochastic systems with nonlinear uncertain dynamics over time-varying topologies of sensor networks. An extended state vector consisting of the…

For high-level Autonomous Vehicles (AV), localization is highly security and safety critical. One direct threat to it is GPS spoofing, but fortunately, AV systems today predominantly use Multi-Sensor Fusion (MSF) algorithms that are…

Extremely large-scale multiple-input multiple-output (XL-MIMO) is crucial for satisfying the high data rate requirements of the sixth-generation (6G) wireless networks. In this context, ensuring accurate acquisition of channel state…

The rapid development of technology has led to an increase in the number of devices that rely on position, velocity, and time (PVT) information to perform their functions. As such, the Global Navigation Satellite Systems (GNSS) have been…

It is commonly expected that future fifth generation (5G) networks will be deployed with a high spatial density of access nodes (ANs) in order to meet the envisioned capacity requirements of the upcoming wireless networks. Densification is…

Accurate and reliable estimation of generator's dynamic state vectors in real time are critical to the monitoring and control of power systems. A robust Cubature Kalman Filter (RCKF) based approach is proposed for dynamic state estimation…

Consistent localization of cooperative multi-robot systems during navigation presents substantial challenges. This paper proposes a fault-tolerant, multi-modal localization framework for multi-robot systems on matrix Lie groups. We…

The availability of cheap GNSS spoofers can prevent safe navigation and tracking of road users. It can lead to loss of assets, inaccurate fare estimation, enforcing the wrong speed limit, miscalculated toll tax, passengers reaching an…

In this paper, we investigate a distributed estimation problem for multi-agent systems with state equality constraints (SEC). First, under a time-based consensus communication protocol, applying a modified projection operator and the…

We propose a novel randomized channel sparsifying hybrid precoding (RCSHP) design to reduce the signaling overhead of channel estimation and the hardware cost and power consumption at the base station (BS), in order to fully harvest…

This article examines state estimation in discrete-time nonlinear stochastic systems with finite-dimensional states and infinite-dimensional measurements, motivated by real-world applications such as vision-based localization and tracking.…

Intelligent vehicles in autonomous driving and obstacle avoidance, the precise relative state of vehicles put forward a higher demand. For a vehicle-borne sensor network with time-varying transmission delays, the problem of coordinate…

The accuracy and robustness of vehicle localization are critical for achieving safe and reliable high-level autonomy. Recent results show that GPS is vulnerable to spoofing attacks, which is one major threat to autonomous driving. In this…

We study the problem of designing false measurement data that is injected to corrupt and mislead the output of a Kalman filter. Unlike existing works that focus on detection and filtering algorithms for the observer, we study the problem…

Providing rigorous reachability guarantees for unknown complex systems is a crucial and challenging task. In this paper, we present a novel data-driven framework that addresses this challenge by leveraging Koopman operator theory. Instead…

Unmanned Aerial Vehicles in dynamic environments face telemetry outages, structural vibrations, and regime-dependent noise that invalidate the stationary covariance assumptions of classical Kalman filters. The Sage-Husa Kalman Filter (SHKF)…

Time-synchronization attacks on phasor measurement units (PMU) pose a real threat to smart grids; it was shown that they are feasible in practice and that they can have a non-negligible negative impact on the state estimation, without…

This paper investigates the problem of distributed target tracking via underwater wireless sensor networks (UWSNs) with fading channels. The degradation of signal quality due to wireless channel fading can significantly impact network…

We employ reachability analysis in designing dynamic quantization schemes for the remote state estimation of linear systems over a finite date rate communication channel. The quantization region is dynamically updated at each transmission…

Cyber-physical systems are found in many applications such as power networks, manufacturing processes, and air and ground transportation systems. Maintaining security of these systems under cyber attacks is an important and challenging…