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Traffic incidents involving vulnerable road users (VRUs) constitute a significant proportion of global road accidents. Advances in traffic communication ecosystems, coupled with sophisticated signal processing and machine learning…

We present ActiveUMI, a framework for a data collection system that transfers in-the-wild human demonstrations to robots capable of complex bimanual manipulation. ActiveUMI couples a portable VR teleoperation kit with sensorized controllers…

In this article, a tutorial introduction to visual-inertial navigation(VIN) is presented. Visual and inertial perception are two complementary sensing modalities. Cameras and inertial measurement units (IMU) are the corresponding sensors…

Position sensors, such as the gyroscope, the magnetometer and the accelerometer, are found in a staggering variety of devices, from smartphones and UAVs to autonomous robots. Several works have shown how adversaries can mount spoofing…

Thanks to their quick placement and high flexibility, unmanned aerial vehicles (UAVs) can be very useful in the current and future wireless communication systems. With a growing number of smart devices and infrastructure-free communication…

The development of aerial autonomy has enabled aerial robots to fly agilely in complex environments. However, dodging fast-moving objects in flight remains a challenge, limiting the further application of unmanned aerial vehicles (UAVs).…

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 challenge…

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…

Secure vehicular communication is a critical factor for secure traffic management. Effective security in intelligent transportation systems (ITS) requires effective and timely intrusion detection systems (IDS). In this paper, we consider…

Autonomous navigation for legged robots in complex and dynamic environments relies on robust simultaneous localization and mapping (SLAM) systems to accurately map surroundings and localize the robot, ensuring safe and efficient operation.…

In recent years, as the population ages, falls have increasingly posed a significant threat to the health of the elderly. We propose a real-time fall detection system that integrates the inertial measurement unit (IMU) of a smartphone with…

A critical aspect of autonomous vehicles (AVs) is the object detection stage, which is increasingly being performed with sensor fusion models: multimodal 3D object detection models which utilize both 2D RGB image data and 3D data from a…

Collision detection and recovery for aerial robots remain a challenge because of the limited space for sensors and local stability of the flight controller. We introduce a novel collision-resilient quadrotor that features a compliant arm…

Robust and accurate localization for Unmanned Aerial Vehicles (UAVs) is an essential capability to achieve autonomous, long-range flights. Current methods either rely heavily on GNSS, face limitations in visual-based localization due to…

Safety-critical cyber-physical systems (CPS), such as quadrotor UAVs, are particularly prone to cyber attacks, which can result in significant consequences if not detected promptly and accurately. During outdoor operations, the nonlinear…

There is a space of uncertainty in the modeling of vehicular dynamics of autonomous systems due to noise in sensor readings, environmental factors or modeling errors. We present Requiem, a software-only, blackbox approach that exploits this…

Surveillance cameras, which is a form of Cyber Physical System, are deployed extensively to provide visual surveillance monitoring of activities of interest or anomalies. However, these cameras are at risks of physical security attacks…

Rapid urbanization calls for smart traffic management solutions that incorporate sensors, distributed traffic controllers and V2X communication technologies to provide fine-grained traffic control to mitigate congestion. As in many other…

Autonomous Vehicles (AVs) heavily rely on sensors and communication networks like Global Positioning System (GPS) to navigate autonomously. Prior research has indicated that networks like GPS are vulnerable to cyber-attacks such as spoofing…

Conducting safety simulations in various simulators, such as the Gazebo simulator, became a very popular means of testing vehicles against potential safety risks (i.e. crashes). However, this was not the case with security testing.…