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

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…

Indoor tracking and pose estimation, i.e., determining the position and orientation of a moving target, are increasingly important due to their numerous applications. While Inertial Navigation Systems (INS) provide high update rates, their…

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…

Numerous safety- or security-critical systems depend on cameras to perceive their surroundings, further allowing artificial intelligence (AI) to analyze the captured images to make important decisions. However, a concerning attack vector…

The operation of critical infrastructures such as the electrical power grid, cellphone towers, and financial institutions relies on precise timing provided by stationary GPS receivers. These GPS devices are vulnerable to a type of spoofing…

This paper presents a novel approach to improving autonomous vehicle control in environments lacking clear road markings by integrating a diffusion-based motion predictor within an Active Inference Framework (AIF). Using a simulated parking…

In this study, we propose an innovative method for the real-time detection of GPS spoofing attacks targeting drones, based on the video stream captured by a drone's camera. The proposed method collects frames from the video stream and their…

This paper proposes a cooperative integrated estimation-guidance framework for simultaneous interception of a non-maneuvering target using a team of unmanned autonomous vehicles, assuming only a subset of vehicles are equipped with…

For autonomous driving, an essential task is to detect surrounding objects accurately. To this end, most existing systems use optical devices, including cameras and light detection and ranging (LiDAR) sensors, to collect environment data in…

Autonomous driving vehicles (ADVs) are implemented with rich software functions and equipped with many sensors, which in turn brings broad attack surface. Moreover, the execution environment of ADVs is often open and complex. Hence, ADVs…

Positional estimation is of great importance in the public safety sector. Emergency responders such as fire fighters, medical rescue teams, and the police will all benefit from a resilient positioning system to deliver safe and effective…

Accurate calibration of intrinsic (odometer scaling factors) and extrinsic parameters (IMU-odometer translation and rotation) is essential for autonomous ground vehicle localization. Existing GNSS-aided approaches often rely on positioning…

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…

Reliable anomaly detection is essential for ensuring the safety of autonomous robots, particularly when conventional detection systems based on vision or LiDAR become unreliable in adverse or unpredictable conditions. In such scenarios,…

Autonomous driving has spurred the development of sensor fusion techniques, which combine data from multiple sensors to improve system performance. In particular, localization system based on sensor fusion , such as Visual Simultaneous…

The Adaptive Cruise Control (ACC) system automatically adjusts the vehicle speed to maintain a safe distance between the vehicle and the lead (ahead) vehicle. The controller's decision to accelerate or decelerate is computed using the…

Millimeter-wave radar systems are one of the core components of the safety-critical Advanced Driver Assistant System (ADAS) of a modern vehicle. Due to their ability to operate efficiently despite bad weather conditions and poor visibility,…

Increasing automation in vehicles enabled by increased connectivity to the outside world has exposed vulnerabilities in previously siloed automotive networks like controller area networks (CAN). Attributes of CAN such as broadcast-based…

Baseline generation for tracking applications is a difficult task when working with real world radar data. Data sparsity usually only allows an indirect way of estimating the original tracks as most objects' centers are not represented in…

The vulnerability of the Global Positioning System (GPS) against spoofing is known for quite some time. Also, the positioning and navigation of most semi-autonomous and autonomous drones are dependent on Global Navigation Satellite System…