The interaction between information technology and phys ical world makes Cyber-Physical Systems (CPS) vulnerable to malicious attacks beyond the standard cyber attacks. This has motivated need for attack-resilient state estimation. Yet, existing state-estimators are based on non-realistic assumption that exact system model is known. Consequently, in this work we present a method estimation presence of attacks, systems with noise modeling errors. When estimated states used by state-based...

Recent years have witnessed a significant increase in the number of security-related incidents control systems. These include high-profile attacks wide range application domains, from on critical infrastructure, as case Maroochy Water breach [1], and industrial systems (such StuxNet virus attack an supervisory data acquisition system [2], [3] German Steel Mill cyberattack [4], [5]), to modern vehicles [6]-[8]. Even high-assurance military were shown be vulnerable attacks, illustrated highly...

This paper describes a framework for controlling heterogeneous wireless robotic network consisting of aerial and ground vehicles. By use the term heterogeneous, we imply synergy multiple platforms characterized by different dynamics specialized sensing capabilities. Two main scenarios concerning communications are presented: 1) decentralized connectivity strategy in which mesh mobile routers swarms cluttered environment maintaining communication constraints based on spring-mass virtual...

In this paper we present a methodology to control ground robots under malicious attack on sensors. Within the term intend any disturbance injection sensors, actuators, and controller that would compromise safety of robot. order guarantee resilience against attacks, use control-level technique implemented within recursive algorithm takes advantage redundancy in information received by controller. We case study vehicle cruise-control, however, strategy work is general for several applications....

In this paper we consider an online planning problem for unmanned aerial vehicle (UAV) operations. Specifically, a UAV has the task of reaching goal from set possible goals while minimizing amount energy required. Due to unforeseen disturbances, it is that initially attractive might end up being very expensive during execution. Thus, two main problems are investigated here: i) how predict and plan motion at run time minimize its consumption ii) when schedule next replanning avoid unnecessary...

A Multi-robot system (MRS) provides significant advantages for intricate tasks such as environmental monitoring, underwater inspections, and space missions. However, addressing potential communication failures or the lack of infrastructure in these fields remains a challenge. portion MRS research presumes that can maintain with proximity constraints, but this approach does not solve situations where is either non-existent, unreliable, poses security risk. Some approaches tackle issue using...

Meteorologists require reliable methods of obtaining high-quality atmospheric data, such as temperature, humidity, pressure, and wind velocity, to better understand predict weather phenomena. Tethered balloons ground towers are the current standards for research-grade profiling. However, suffer from several disadvantages including high cost, low mobility, labor intensive setups. Due their dynamic nature, unmanned aerial vehicles (UAVs) do not those disadvantages. Previous efforts at...

We address the problem of reconstructing state a differentially flat system from measurements that may be corrupted by an adversarial attack. In cyber-physical systems, malicious attacks can directly compromise system's sensors or manipulate communication between and controllers. consider only corrupt subset sensor measurements. show possibility under such is characterized suitable generalization notion s-sparse observability, previously introduced some authors in linear case. also extend...

Micro Aerial Vehicles (MAVs) and in particular quadrotors have gained a lot of attention because their small size, stable, robust, diverse sensing capabilities that make them perfect test beds several safety critical operations. Shrinking these vehicles is desirable since agility increases. However, it entails smaller power sources hence less flight time. Adding sensors on systems also implies more energy consumption due to both the added weight supplied sensors. In this work, we build...

Robots are complex systems, and their design requires detailed knowledge of diverse fields, including mechanics, electronics, software, control theory. Thus, our ability to rapidly create robotic systems a synergy between these disciplines. In the near future, new paradigms tools will be needed for on-demand generation; fabrication methods realize custom electromechanical devices; algorithms programming languages necessary define, evaluate, optimize behavioral specifications designs. this...

The Benchmark Autonomous Robot Navigation (BARN) Challenge took place at the 2022 IEEE International Conference on Robotics and Automation (ICRA), in Philadelphia, PA, USA. aim of challenge was to evaluate state-of-the-art autonomous ground navigation systems for moving robots through highly constrained environments a safe efficient manner. Specifically, task navigate standardized differential drive robot from predefined start location goal as quickly possible without colliding with any...

Current motion planning approaches for autonomous mobile robots often assume that the low level controller of system is able to track planned with very high accuracy. In practice, however, tracking error can be affected by many factors, and could lead potential collisions when robot must traverse a cluttered environment. To address this problem, paper proposes novel receding-horizon approach based on Model Predictive Path Integral (MPPI) control theory – flexible sampling-based technique...

This project develops techniques to protect against sensor attacks on cyber-physical systems. Specifically, a resilient version of the Kalman filtering technique accompanied with watermarking approach is proposed detect cyber-attacks and estimate correct state system. The defense are used in conjunction validated two case studies: i) an unmanned ground vehicle (UGV) which attacker alters reference angle ii) Cube Satellite (CubeSat) modifies orientation satellite degrading its performance....

In this paper we develop a framework based on disjunctive programming for motion planning of robotic networks. Although the methodology presented in can be applied to general problems focus coordinating team mobile routers maintain connectivity between fixed base station and user within walled environment. This management problem is decomposed into three steps: (i) feasible line-of-sight path computed; (ii) number required their goal locations are determined; (iii) with obstacle...

Modern autonomous cyber-physical systems have been demonstrated to be vulnerable cyber-attacks like sensor spoofing in which an attacker stealthily compromises readings hijack the system toward undesired and possibly hazardous states. The majority of security techniques developed today are, however, reactive concerned with detection interdiction attacks without considering predicting intention attack. To deal such problem, we propose a Bayesian Inverse Reinforcement Learning technique that...

Modern unmanned aerial vehicles (UAVs) rely on constant periodic sensor measurements to detect and avoid obstacles. However, checking replanning are time energy consuming often not necessary especially in situations which the UAV can safely fly uncluttered environments without entering unsafe states. Thus, this paper, we propose a self-triggered framework that leverages reachability analysis schedule next check perform while guaranteeing safety under noise disturbance effects. Further, relax...

Cooperative multirobot systems coordinate their motion by exchanging information through consensus schemes to achieve a common goal. In the event of stealthy cyber attacks, compromised measurements and communication broadcasts can hijack portion or entire system toward undesired states. However, in order for these attacks be effective, they have exhibit nonrandom characteristics that contradict expected behavior. To deal with hidden we propose runtime monitoring framework considers signed...

The lack of communication between agents in a multi-robot system is often regarded as limiting factor that can affect and delay cooperative exploration exploitation cluttered uncertain environments. On the contrary, this paper proposes complete planning framework to enable behavior without need for constant robots, demonstrating drastic improvements task completion coverage time compared both fully connected robotic networks widely used frontier-based methods. Specifically, proposed scheme...

As Multi-Robot Systems (MRS) become more affordable and computing capabilities grow, they provide significant advantages for complex applications such as environmental monitoring, underwater inspections, or space exploration. However, accounting potential communication loss the unavailability of infrastructures in these application domains remains an open problem. Much applicable MRS research assumes that system can sustain through proximity regulations formation control by devising a...

In this paper we develop a framework based on disjunctive programming for motion planning of mobile routers. Although the methodology presented in can be applied to general problems focus coordinating team routers maintain connectivity between fixed base station and user within walled environment. This management problem is decomposed into three phases: (i) computing feasible line-of- sight path user; (ii) determining number required their goal locations; (iii) solving with obstacle...

Modern unmanned aerial vehicles (UAVs) rely on constant periodic sensor measurements to help avoid obstacles, deal with system disturbances and correct uncertainties. However, checking is time energy consuming often not necessary especially in situations which the UAV can safely fly using open loop control without entering unsafe states. Thus, this paper we focus two main problems: i) how predict possible reachable states of considering noise ii) when schedule next state monitoring...

Autonomous systems operating in uncertain environments under the effects of disturbances and noises can reach unsafe states even while using finetuned controllers precise sensors actuators. To provide safety guarantees on such during motion planning operations, reachability analysis (RA) has been demonstrated to be a powerful tool. RA, however, suffers from computational complexity, especially when dealing with intricate characterized by high-order dynamics, making it hard deploy for runtime...