相关论文: Secure Fusion Estimation Against FDI Sensor Attack…

Automatic Speaker Verification (ASV) system is a type of bio-metric authentication. It can be attacked by an intruder, who falsifies data in order to get access to protected information. Countermeasures (CM) are special algorithms that…

This paper presents a state-estimation solution for legged robots that uses a set of low-cost, compact, and lightweight sensors to achieve low-drift pose and velocity estimation under challenging locomotion conditions. The key idea is to…

To enable safe and reliable decision-making, autonomous vehicles (AVs) feed sensor data to perception algorithms to understand the environment. Sensor fusion with multi-frame tracking is becoming increasingly popular for detecting 3D…

This paper proposes a new approach to multi-sensor data fusion. It suggests that aggregation of data from multiple sensors can be done more efficiently when we consider information about sensors' different characteristics. Similar to most…

This paper studies physical consequences of unobservable false data injection (FDI) attacks designed only with information inside a sub-network of the power system. The goal of this attack is to overload a chosen target line without being…

We consider a sensor network focused on target localization, where sensors measure the signal strength emitted from the target. Each measurement is quantized to one bit and sent to the fusion center. A general attack is considered at some…

The false data injection (FDI) attack is a crucial form of cyber-physical security problems facing cyber-physical power systems. However, there is no research revealing the problem of FDI attacks facing voltage source converter based high…

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…

Many robotic sensor estimation problems can characterized in terms of nonlinear measurement systems. These systems are contaminated with noise and may be underdetermined from a single observation. In order to get reliable estimation…

In recent years, 3D mapping for indoor environments has undergone considerable research and improvement because of its effective applications in various fields, including robotics, autonomous navigation, and virtual reality. Building an…

A multi-sensor fusion Student's $t$ filter is proposed for time-series recursive estimation in the presence of heavy-tailed process and measurement noises. Driven from an information-theoretic optimization, the approach extends the single…

Safety-critical sensors in autonomous vehicles (AVs) form an essential part of the vehicle's trusted computing base (TCB), yet they are highly susceptible to attacks. Alarmingly, Tier 1 manufacturers have already exposed vulnerabilities to…

Robotic systems are vulnerable to False Data Injection Attacks (FDIAs), where adversaries corrupt sensor signals to gain malicious control. Feedback linearization exposes robotic systems to integrator vulnerability, making them susceptible…

The paper deals with decentralized state estimation for spatially distributed systems described by linear partial differential equations from discrete in-space-and-time noisy measurements provided by sensors deployed over the spatial domain…

Modern maritime navigation and control systems rely on digital sensing, estimation, and communication pipelines that fuse GNSS, radar, inertial, and AIS data through approaches such as Kalman-filter-based estimators. While these…

False Data Injection (FDI) attacks against powersystem state estimation are a growing concern for operators.Previously, most works on FDI attacks have been performedunder the assumption of the attacker having full knowledge ofthe underlying…

Cyber-physical systems integrate computation, communication, and physical capabilities to interact with the physical world and humans. Besides failures of components, cyber-physical systems are prone to malicious attacks so that specific…

This paper proposes a decentralized dynamic state estimation (DSE) algorithm with bimodal Gaussian mixture measurement noise. The decentralized DSE is formulated using the Ensemble Kalman Filter (EnKF) and then compared with the unscented…

Coordinated stealth attacks are a serious cybersecurity threat to distributed generation systems because they modify control and measurement signals while remaining close to normal behavior, making them difficult to detect using standard…

Autonomous vehicles and mobile robotic systems are typically equipped with multiple sensors to provide redundancy. By integrating the observations from different sensors, these mobile agents are able to perceive the environment and estimate…