11 citations · 12 across the 14 of their papers we have counts for
16 papers
A direct theory of strain-gradient special Cosserat rods via the principle of virtual work
R. S. Hallyburton, C. Rodriguez
Motivated by recent advances in the synthesis of effective one-dimensional mechanical metamaterials, we develop a direct theory of strain-gradient special Cosserat rods based on th…
Anywhere, Any-Stymie: Remote Activation of Trojan Malware on LiDAR with Modulated Signals
R. Spencer Hallyburton, Miroslav Pajic
LiDAR sensors are widely deployed in autonomous systems for safety-critical 3D perception. We identify a previously unexplored attack surface in which dormant malware, embedded in…
Scaling Datasets for Multi-Sensor, Multi-Agent, and Multi-Domain Learning in Autonomous Systems
R. Spencer Hallyburton, David Hunt, Miroslav Pajic
Existing datasets cannot support large-scale learning in multi-agent, multi-sensor, or multi-domain autonomy, where diversity and coordination are essential. We present a modular d…
Shell energies derived from three-dimensional isotropic strain-gradient elasticity
C. Balitactac, Y. Canzani, R. S. Hallyburton +2
We derive a class of two-dimensional shell energies for thin elastic bodies exhibiting small-length scale effects modeled via strain-gradient elasticity. Building on the final auth…
Trusted Data Fusion, Multi-Agent Autonomy, Autonomous Vehicles
R. Spencer Hallyburton, Miroslav Pajic
Multi-agent collaboration enhances situational awareness in intelligence, surveillance, and reconnaissance (ISR) missions. Ad hoc networks of unmanned aerial vehicles (UAVs) allow…
Assured Autonomy with Neuro-Symbolic Perception
R. Spencer Hallyburton, Miroslav Pajic
Many state-of-the-art AI models deployed in cyber-physical systems (CPS), while highly accurate, are simply pattern-matchers.~With limited security guarantees, there are concerns f…
Probabilistic Segmentation for Robust Field of View Estimation
R. Spencer Hallyburton, David Hunt, Yiwei He +2
Attacks on sensing and perception threaten the safe deployment of autonomous vehicles (AVs). Security-aware sensor fusion helps mitigate threats but requires accurate field of view…
Security-Aware Sensor Fusion with MATE: the Multi-Agent Trust Estimator
R. Spencer Hallyburton, Miroslav Pajic
Lacking security awareness, sensor fusion in systems with multi-agent networks such as smart cities is vulnerable to attacks. To guard against recent threats, we design security-aw…
Bayesian Methods for Trust in Collaborative Multi-Agent Autonomy
R. Spencer Hallyburton, Miroslav Pajic
Multi-agent, collaborative sensor fusion is a vital component of a multi-national intelligence toolkit. In safety-critical and/or contested environments, adversaries may infiltrate…
A Multi-Agent Security Testbed for the Analysis of Attacks and Defenses in Collaborative Sensor Fusion
R. Spencer Hallyburton, David Hunt, Shaocheng Luo +1
The performance and safety of autonomous vehicles (AVs) deteriorates under adverse environments and adversarial actors. The investment in multi-sensor, multi-agent (MSMA) AVs is me…
A Modular Platform For Collaborative, Distributed Sensor Fusion
R. Spencer Hallyburton, Nate Zelter, David Hunt +2
Leading autonomous vehicle (AV) platforms and testing infrastructures are, unfortunately, proprietary and closed-source. Thus, it is difficult to evaluate how well safety-critical…
What Would Trojans Do? Exploiting Partial-Information Vulnerabilities in Autonomous Vehicle Sensing
R. Spencer Hallyburton, Qingzhao Zhang, Z. Morley Mao +2
Safety-critical sensors in autonomous vehicles (AVs) form an essential part of the vehicle's trusted computing base (TCB), yet they are highly susceptible to attacks. Alarmingly, T…
AVstack: An Open-Source, Reconfigurable Platform for Autonomous Vehicle Development
R. Spencer Hallyburton, Shucheng Zhang, Miroslav Pajic
Pioneers of autonomous vehicles (AVs) promised to revolutionize the driving experience and driving safety. However, milestones in AVs have materialized slower than forecast. Two cu…
Optimal Myopic Attacks on Nonlinear Estimation
R. Spencer Hallyburton, Amir Khazraei, Miroslav Pajic
Recent high-profile incidents have exposed security risks in control systems. Particularly important and safety-critical modules for security analysis are estimation and control (E…
Security Analysis of Camera-LiDAR Fusion Against Black-Box Attacks on Autonomous Vehicles
R. Spencer Hallyburton, Yupei Liu, Yulong Cao +2
To enable safe and reliable decision-making, autonomous vehicles (AVs) feed sensor data to perception algorithms to understand the environment. Sensor fusion with multi-frame track…
New Estimates on the bounds of Brunel's operator
I. Assani, R. S. Hallyburton, S. McMahon +2
We study the coefficients of the Taylor series expansion of powers of the function , where the Brunel operator is defined as for…