2 papers
eess.SY2025
Path Integral Methods for Synthesizing and Preventing Stealthy Attacks in Nonlinear Cyber-Physical Systems
Apurva Patil, Kyle Morgenstein, Luis Sentis +1
This paper studies the synthesis and mitigation of stealthy attacks in nonlinear cyber-physical systems (CPS). To quantify stealthiness, we employ the Kullback-Leibler (KL) diverge…
cs.RO2025
Task Hierarchical Control via Null-Space Projection and Path Integral Approach
Apurva Patil, Riku Funada, Takashi Tanaka +1
This paper addresses the problem of hierarchical task control, where a robotic system must perform multiple subtasks with varying levels of priority. A commonly used approach for h…