Show simple item record

Attack-resilient sensor fusion for safety-critical cyber-physical systems

dc.contributor.author Ivanov, R
dc.contributor.author Pajic, M
dc.contributor.author Lee, I
dc.date.accessioned 2015-12-29T02:03:06Z
dc.date.issued 2016-02-01
dc.identifier.issn 1539-9087
dc.identifier.uri https://hdl.handle.net/10161/11280
dc.description.abstract © 2016 ACM.This article focuses on the design of safe and attack-resilient Cyber-Physical Systems (CPS) equipped with multiple sensors measuring the same physical variable. A malicious attacker may be able to disrupt system performance through compromising a subset of these sensors. Consequently, we develop a precise and resilient sensor fusion algorithm that combines the data received from all sensors by taking into account their specified precisions. In particular, we note that in the presence of a shared bus, in which messages are broadcast to all nodes in the network, the attacker's impact depends on what sensors he has seen before sending the corrupted measurements. Therefore, we explore the effects of communication schedules on the performance of sensor fusion and provide theoretical and experimental results advocating for the use of the Ascending schedule, which orders sensor transmissions according to their precision starting from the most precise. In addition, to improve the accuracy of the sensor fusion algorithm, we consider the dynamics of the system in order to incorporate past measurements at the current time. Possible ways of mapping sensor measurement history are investigated in the article and are compared in terms of the confidence in the final output of the sensor fusion. We show that the precision of the algorithm using history is never worse than the no-history one, while the benefits may be significant. Furthermore, we utilize the complementary properties of the two methods and show that their combination results in a more precise and resilient algorithm. Finally, we validate our approach in simulation and experiments on a real unmanned ground robot.
dc.publisher Association for Computing Machinery (ACM)
dc.relation.ispartof ACM Transactions on Embedded Computing Systems
dc.relation.isversionof 10.1145/2847418
dc.title Attack-resilient sensor fusion for safety-critical cyber-physical systems
dc.type Journal article
duke.contributor.id Pajic, M|0662016
pubs.issue 1
pubs.organisational-group Computer Science
pubs.organisational-group Duke
pubs.organisational-group Electrical and Computer Engineering
pubs.organisational-group Pratt School of Engineering
pubs.organisational-group Trinity College of Arts & Sciences
pubs.publication-status Published
pubs.volume 15
dc.identifier.eissn 1558-3465


Files in this item

Thumbnail

This item appears in the following Collection(s)

Show simple item record