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

In this paper, we address the problem of relative localization of two mobile agents. Specifically, we consider the Dual-IMU system, where each agent is equipped with one IMU, and employs relative pose observations between them. Previous…

In this work, we study vulnerability of unmanned aerial vehicles (UAVs) to stealthy attacks on perception-based control. To guide our analysis, we consider two specific missions: ($i$) ground vehicle tracking (GVT), and ($ii$) vertical…

Perception plays a pivotal role in autonomous driving systems, which utilizes onboard sensors like cameras and LiDARs (Light Detection and Ranging) to assess surroundings. Recent studies have demonstrated that LiDAR-based perception is…

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…

Autonomous vehicles (AVs) rely heavily on cameras and artificial intelligence (AI) to make safe and accurate driving decisions. However, since AI is the core enabling technology, this raises serious cyber threats that hinder the large-scale…

Our study assesses the adversarial robustness of LiDAR-camera fusion models in 3D object detection. We introduce an attack technique that, by simply adding a limited number of physically constrained adversarial points above a car, can make…

Using different sensors in an autonomous vehicle (AV) can provide multiple constraints to optimize AV location estimation. In this paper, we present a low-cost GPS-assisted LiDAR state estimation system for AVs. Firstly, we utilize LiDAR to…

Autonomous vehicle control is growing in availability for new vehicles and there is a potential need to retrofit older vehicles with this capability. Additionally, automotive cybersecurity has become a significant concern in recent years…

With the development of autonomous driving technology, automotive radar has received unprecedented attention due to its day-and-night and all-weather working capability. It is worthwhile to note that more and more vehicles are equipped with…

By using various sensors to measure the surroundings and sharing local sensor information with the surrounding vehicles through wireless networks, connected and automated vehicles (CAVs) are expected to increase safety, efficiency, and…

Autonomous vehicles (AVs) are poised to revolutionize the transportation industry by enhancing traffic efficiency and road safety. However, achieving optimal vehicular autonomy demands an uninterrupted and precise positioning solution,…

Autonomous unmanned aerial vehicles (UAVs) rely on global navigation satellite system (GNSS) pseudorange measurements for accurate real-time localization and navigation. However, this dependence exposes them to sophisticated spoofing…

Estimating vehicles' locations is one of the key components in intelligent traffic management systems (ITMSs) for increasing traffic scene awareness. Traditionally, stationary sensors have been employed in this regard. The development of…

In this paper, we present a proof of concept for adversarially attacking the image-based localization module of an autonomous vehicle. This attack aims to cause the vehicle to perform a wrong navigational decisions and prevent it from…

Recently, Unmanned Aerial Vehicles (UAVs) are employed for a plethora of civilian applications. Such flying vehicles can accomplish tasks under the pilot's eyesight within the range of a remote controller, or autonomously according to a…

Autonomous Vehicles rely on accurate and robust sensor observations for safety critical decision-making in a variety of conditions. Fundamental building blocks of such systems are sensors and classifiers that process ultrasound, RADAR, GPS,…

This paper presents a safe imitation learning approach for autonomous vehicle driving, with attention on real-life human driving data and experimental validation. In order to increase occupant's acceptance and gain drivers' trust, the…

Global Navigation Satellite System/Inertial Navigation System (GNSS/INS)/Vision integration based on factor graph optimization (FGO) has recently attracted extensive attention in navigation and robotics community. Integrity monitoring (IM)…

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.…

Global navigation satellite systems readily provide accurate position information when localizing a robot outdoors. However, an analogous standard solution does not exist yet for mobile robots operating indoors. This paper presents an…