相关论文: Neutralization of IMU-Based GPS Spoofing Detection…

We present a robust control and estimation framework for quadrotors operating in Global Navigation Satellite System(GNSS)-denied, non-inertial environments where inertial sensors such as Inertial Measurement Units (IMUs) become unreliable…

This paper addresses accurate pose estimation (position, velocity, and orientation) for a rigid body using a combination of generic inertial-frame and/or body-frame measurements along with an Inertial Measurement Unit (IMU). By embedding…

This work studies secure transmission in intelligent reflecting surfaces (IRS)-assisted MIMO systems when an active eavesdropper is available in the network. We consider a scenario in which the eavesdropper performs an active pilot attack…

Automotive systems continuously increase their dependency on Electronic Control Units (ECUs) and become more interconnected to improve safety, comfort and Advanced Driving Assistance Systems (ADAS) functions to passengers and drivers. As a…

In this paper we propose a novel observer-based method to improve the safety and security of connected and automated vehicle (CAV) transportation. The proposed method combines model-based signal filtering and anomaly detection methods.…

Autonomous agents deployed in the real world need to be robust against adversarial attacks on sensory inputs. Robustifying agent policies requires anticipating the strongest attacks possible. We demonstrate that existing observation-space…

The security of modern vehicles has become increasingly important, with the controller area network (CAN) bus serving as a critical communication backbone for various Electronic Control Units (ECUs). The absence of robust security measures…

Consider the problem of mitigating the impact on data integrity of phasor measurement units (PMUs) given a GPS spoofing attack. We present a sparse error correction framework to treat PMU measurements that are potentially corrupted due to a…

This paper presents Lidar-based Simultaneous Localization and Mapping (SLAM) for autonomous driving vehicles. Fusing data from landmark sensors and a strap-down Inertial Measurement Unit (IMU) in an adaptive Kalman filter (KF) plus the…

To navigate reliably in indoor environments, an industrial autonomous vehicle must know its position. However, current indoor vehicle positioning technologies either lack accuracy, usability or are too expensive. Thus, we propose a novel…

Autonomous Vehicles (AVs) are prone to revolutionise the transportation industry. However, they must be thoroughly tested to avoid safety violations. Simulation testing plays a crucial role in finding safety violations of Automated Driving…

The rapid proliferation of unmanned aerial vehicles (UAVs) and their applications in diverse domains, such as surveillance, disaster management, agriculture, and defense, have revolutionized modern technology. While the potential benefits…

Control Area Network (CAN) is an essential communication protocol that interacts between Electronic Control Units (ECUs) in the vehicular network. However, CAN is facing stringent security challenges due to innate security risks. Intrusion…

UAVNs (unmanned aerial vehicle networks) may become vulnerable to threats and attacks due to their characteristic features such as highly dynamic network topology, open-air wireless environments, and high mobility. Since previous work has…

We propose an attitude and gyro-bias estimation scheme for accelerated rigid body systems using an inertial measurement unit (IMU) and a global positioning system (GPS). The proposed scheme allows to obtain attitude estimates directly on…

This paper presents a novel approach for localising a GPS (Global Positioning System)-denied Unmanned Aerial Vehicle (UAV) with the aid of a GPS-equipped UAV in three-dimensional space. The GPS-equipped UAV makes discrete-time broadcasts of…

A new obstacle detection algorithm for unmanned surface vehicles (USVs) is presented. A state-of-the-art graphical model for semantic segmentation is extended to incorporate boat pitch and roll measurements from the on-board inertial…

Recent developments have made autonomous vehicles (AVs) closer to hitting our roads. However, their security is still a major concern among drivers as well as manufacturers. Although some work has been done to identify threats and possible…

Time-of-flight (ToF) distance measurement devices such as ultrasonics, LiDAR and radar are widely used in autonomous vehicles for environmental perception, navigation and assisted braking control. Despite their relative importance in making…

Inertial measurement units (IMUs) are fundamental sensing components in multi-source integrated navigation systems, and their performance directly determines the accuracy and reliability of solutions. However, the precision of low-cost IMUs…