TY - GEN
T1 - Secure perception-driven control of mobile robots using chaotic encryption
AU - Zhang, Xu
AU - Yuan, Zhenyuan
AU - Xu, Siyuan
AU - Lu, Yang
AU - Zhu, Minghui
N1 - Funding Information:
The authors are with the School of Electrical Engineering and Computer Science, Pennsylvania State University [email protected], [email protected], [email protected], [email protected], [email protected] This work is supported by the awards NSF CNS 1505664 and ECCS 1846706.
Publisher Copyright:
© 2021 American Automatic Control Council.
PY - 2021/5/25
Y1 - 2021/5/25
N2 - This paper considers perception-driven control of a mobile robot for reference tracking where perception is performed by a machine learning system. The robot is subject to passive attacks and evasion attacks on image transmission. A robust output feedback controller together with a chaotic encryption system ensures input-to-state stability of the closed-loop system, and the chaotic encryption approach keeps image transmission secure. Simulations are conducted in the CARLA simulator to demonstrate robust reference tracking and secure image transmission.
AB - This paper considers perception-driven control of a mobile robot for reference tracking where perception is performed by a machine learning system. The robot is subject to passive attacks and evasion attacks on image transmission. A robust output feedback controller together with a chaotic encryption system ensures input-to-state stability of the closed-loop system, and the chaotic encryption approach keeps image transmission secure. Simulations are conducted in the CARLA simulator to demonstrate robust reference tracking and secure image transmission.
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U2 - 10.23919/ACC50511.2021.9483382
DO - 10.23919/ACC50511.2021.9483382
M3 - Conference contribution
AN - SCOPUS:85111945290
T3 - Proceedings of the American Control Conference
SP - 2575
EP - 2580
BT - 2021 American Control Conference, ACC 2021
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2021 American Control Conference, ACC 2021
Y2 - 25 May 2021 through 28 May 2021
ER -