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

Low-cost inertial navigation systems (INS) are prone to sensor biases and measurement noise, which lead to rapid degradation of navigation accuracy during global positioning system (GPS) outages. To address this challenge and improve…

We address the problem of attack detection and isolation for a class of discrete-time nonlinear systems under (potentially unbounded) sensor attacks and measurement noise. We consider the case when a subset of sensors is subject to additive…

With the development of autonomous vehicle technology, the controller area network (CAN) bus has become the de facto standard for an in-vehicle communication system because of its simplicity and efficiency. However, without any encryption…

This paper proposes a cyber-resilient secure control framework for autonomous vehicles (AVs) subject to false data injection (FDI) threats as actuator attacks. The framework integrates data-driven modeling, event-triggered communication,…

Induced magnetic field (IMF)-based localization offers a robust alternative to wave-based positioning technologies due to its resilience to non-line-of-sight conditions, environmental dynamics, and wireless interference. However, existing…

Perception module of Autonomous vehicles (AVs) are increasingly susceptible to be attacked, which exploit vulnerabilities in neural networks through adversarial inputs, thereby compromising the AI safety. Some researches focus on creating…

This report proposes a combined optimal control and perception framework for Micro Aerial Vehicle (MAV) autonomous navigation in novel indoor enclosed environments, relying exclusively on on-board sensor data. We use privileged information…

We propose a new real-world attack against the computer vision based systems of autonomous vehicles (AVs). Our novel Sign Embedding attack exploits the concept of adversarial examples to modify innocuous signs and advertisements in the…

With the rapid development of Artificial Intelligence (AI), the problem of AI security has gradually emerged. Most existing machine learning algorithms may be attacked by adversarial examples. An adversarial example is a slightly modified…

In recent advancements in connected and autonomous vehicles (CAVs), automotive ethernet has emerged as a critical technology for in-vehicle networks (IVNs), superseding traditional protocols like the CAN due to its superior bandwidth and…

In automotive systems, a radar is a key component of autonomous driving. Using transmit and reflected radar signal by a target, we can capture the target range and velocity. However, when interference signals exist, noise floor increases…

This work presents a centralized multi-IMU filter framework with online intrinsic and extrinsic calibration for unsynchronized inertial measurement units that is robust against changes in calibration parameters. The novel EKF-based method…

The increasing reliance on Global Navigation Satellite Systems (GNSS), particularly the Global Positioning System (GPS), underscores the urgent need to safeguard these technologies against malicious threats such as spoofing and jamming. As…

To operate effectively in tomorrow's smart cities, autonomous vehicles (AVs) must rely on intra-vehicle sensors such as camera and radar as well as inter-vehicle communication. Such dependence on sensors and communication links exposes AVs…

Electronic countermeasure (ECM) technology plays a critical role in modern electronic warfare, which can interfere with enemy radar detection systems by noise or deceptive signals. However, the conventional active jamming strategy incurs…

The GPS is vulnerable to GPS spoofing attack (GSA), which leads to disorder in time and position results of the GPS receiver. In power grids, phasor measurement units (PMUs) use GPS to build time-tagged measurements, so they are susceptible…

We present a method to improve the accuracy of a zero-velocity-aided inertial navigation system (INS) by replacing the standard zero-velocity detector with a long short-term memory (LSTM) neural network. While existing threshold-based…

This paper considers a MIMO Integrated Sensing and Communication (ISAC) system, where a base station simultaneously serves a MIMO communication user and a remote MIMO sensing receiver, without channel state information (CSI) at the…

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…

Autonomous vehicles (AVs), equipped with numerous sensors such as camera, LiDAR, radar, and ultrasonic sensor, are revolutionizing the transportation industry. These sensors are expected to sense reliable information from a physical…