相关论文: VIMU: Effective Physics-based Realtime Detection a…

Visual-Inertial Odometry (VIO) utilizes an Inertial Measurement Unit (IMU) to overcome the limitations of Visual Odometry (VO). However, the VIO for vehicles in large-scale outdoor environments still has some difficulties in estimating…

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 real-time approach for long-term inertial navigation based only on an Inertial Measurement Unit (IMU) for self-localizing wheeled robots. The approach builds upon two components: 1) a robust detector that uses…

Inertial measurement units (IMUs), which provide high-frequency linear acceleration and angular velocity measurements, serve as fundamental sensing modalities in robotic systems. Recent advances in deep neural networks have led to…

The robustness of Vision-Language Models (VLMs) such as CLIP is critical for their deployment in safety-critical applications like autonomous driving, healthcare diagnostics, and security systems, where accurate interpretation of visual and…

This paper considers the physical layer security of a pilot-based massive multiple-input multiple-output (MaMIMO) system in presence of a multi-antenna jammer. To improve security of the network, we propose a new jamming detection method…

In this paper, we propose a fault detection and isolation based attack-aware multi-sensor integration algorithm for the detection of cyberattacks in autonomous vehicle navigation systems. The proposed algorithm uses an extended Kalman…

Small object detection in aerial imagery presents significant challenges in computer vision due to the minimal data inherent in small-sized objects and their propensity to be obscured by larger objects and background noise. Traditional…

Recent years have witnessed remarkable progress in developing Vision-Language Models (VLMs) capable of processing both textual and visual inputs. These models have demonstrated impressive performance, leading to their widespread adoption in…

Connected and Automated Vehicles (CAVs) rely on the correctness of position and other vehicle kinematics information to fulfill various driving tasks such as vehicle following, lane change, and collision avoidance. However, a malicious…

We present a method to improve the accuracy of a zero-velocity-aided inertial navigation system (INS) by replacing the standard zero-velocity detector with a long short-term memory (LSTM) neural network. While existing threshold-based…

The light and soft characteristics of Buoyancy Assisted Lightweight Legged Unit (BALLU) robots have a great potential to provide intrinsically safe interactions in environments involving humans, unlike many heavy and rigid robots. However,…

This paper proposes a novel inertial-aided localization approach by fusing information from multiple inertial measurement units (IMUs) and exteroceptive sensors. IMU is a low-cost motion sensor which provides measurements on angular…

Connected vehicle (CV) systems are cognizant of potential cyber attacks because of increasing connectivity between its different components such as vehicles, roadside infrastructure, and traffic management centers. However, it is a…

Contextual proximity detection (or, co-presence detection) is a promising approach to defend against relay attacks in many mobile authentication systems. We present a systematic assessment of co-presence detection in the presence of a…

Motivated by the need to secure cyber-physical systems against attacks, we consider the problem of estimating the state of a noisy linear dynamical system when a subset of sensors is arbitrarily corrupted by an adversary. We propose a…

Unmanned Aerial Vehicles (UAVs) are gaining popularity in civil and military applications. However, uncontrolled access to restricted areas threatens privacy and security. Thus, prevention and detection of UAVs are pivotal to guarantee…

For a safe and reliable operation of the smart grid, timely detection of cyber-attacks is of critical importance. Moreover, considering smarter and more capable attackers, robust detection mechanisms are needed against a diverse range of…

Malicious attacks on modern autonomous cyber-physical systems (CPSs) can leverage information about the system dynamics and noise characteristics to hide while hijacking the system toward undesired states. Given attacks attempting to hide…

This paper proposes a cyber-resilient secure control framework for autonomous vehicles (AVs) subject to false data injection (FDI) threats as actuator attacks. The framework integrates data-driven modeling, event-triggered communication,…