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

Attacks in cyber-physical systems (CPS) which manipulate sensor readings can cause enormous physical damage if undetected. Detection of attacks on sensors is crucial to mitigate this issue. We study supervised regression as a means to…

Visual inertial odometry and SLAM algorithms are widely used in various fields, such as service robots, drones, and autonomous vehicles. Most of the SLAM algorithms are based on assumption that landmarks are static. However, in the…

The vision of unmanned aerial vehicles is very significant for UAV-related applications such as search and rescue, landing on a moving platform, etc. In this work, we have developed an integrated system for the UAV landing on the moving…

An important focus of current research in the field of Micro Aerial Vehicles (MAVs) is to increase the safety of their operation in general unstructured environments. Especially indoors, where GPS cannot be used for localization, reliable…

Sensor attacks compromise the reliability of cyber-physical systems (CPSs) by altering sensor outputs with the objective of leading the system to unsafe system states. This paper studies a probabilistic intrusion detection framework based…

Wireless sensor network (WSN) is regularly deployed in unattended and hostile environments. The WSN is vulnerable to security threats and susceptible to physical capture. Thus, it is necessary to use effective mechanisms to protect the…

Unmanned Aerial Vehicles (UAV) have emerged as versatile platforms, driving the demand for accurate modeling to support developmental testing. This paper proposes data-driven modeling software for UAV. Emphasizes the utilization of…

Autonomous vehicles rely on LiDAR sensors to detect obstacles such as pedestrians, other vehicles, and fixed infrastructures. LiDAR spoofing attacks have been demonstrated that either create erroneous obstacles or prevent detection of real…

Rising complexity of in-vehicle electronics is enabling new capabilities like autonomous driving and active safety. However, rising automation also increases risk of security threats which is compounded by lack of in-built security measures…

Recent advances in vision-language models (VLMs) have significantly enhanced the visual grounding task, which involves locating objects in an image based on natural language queries. Despite these advancements, the security of VLM-based…

Maintaining the security of control systems in the presence of integrity attacks is a significant challenge. In literature, several possible attacks against control systems have been formulated including replay, false data injection, and…

Cyber-physical systems (CPS) such as unmanned aerial vehicles are vulnerable to slow degradation that develops without causing immediate or obvious failures. Small sensor biases or timing irregularities can accumulate over time, gradually…

Sensors such as phasor measurement units (PMUs) endowed with GPS receivers are ubiquitously installed providing real-time grid visibility. A number of PMUs can cooperatively enable state estimation routines. However, GPS spoofing attacks…

Accurate odometry is a critical component in a robotic navigation stack, and subsequent modules such as planning and control often rely on an estimate of the robot's motion. Sensor-based odometry approaches should be robust across sensor…

As cameras and inertial sensors are becoming ubiquitous in mobile devices and robots, it holds great potential to design visual-inertial navigation systems (VINS) for efficient versatile 3D motion tracking which utilize any (multiple)…

Phasor measurement units (PMUs) can be effectively utilized for the monitoring and control of the power grid. As the cyber-world becomes increasingly embedded into power grids, the risks of this inevitable evolution become serious. In this…

Safety-critical intelligent cyber-physical systems, such as quadrotor unmanned aerial vehicles (UAVs), are vulnerable to different types of cyber attacks, and the absence of timely and accurate attack detection can lead to severe…

In this paper we propose a novel accurate method for dead-reckoning of wheeled vehicles based only on an Inertial Measurement Unit (IMU). In the context of intelligent vehicles, robust and accurate dead-reckoning based on the IMU may prove…

Along with the importance of safety, an IDS has become a significant task in the real world. Prior studies proposed various intrusion detection models for the UAV. Past rule-based approaches provided a concrete baseline IDS model, and the…

Object detection as part of computer vision can be crucial for traffic management, emergency response, autonomous vehicles, and smart cities. Despite significant advances in object detection, detecting small objects in images captured by…