4 papers
A Nonlinear Incremental Approach for Replay Attack Detection
Tao Chen, Andreu Cecilia, Lei Wang +2
Replay attacks comprise replaying previously recorded sensor measurements and injecting malicious signals into a physical plant, causing great damage to cyber-physical systems. Rep…
Fast Path Planning for Autonomous Vehicle Parking with Safety-Guarantee using Hamilton-Jacobi Reachability
Xuemin Chi, Jun Zeng, Jihao Huang +2
We present a fast planning architecture called Hamilton-Jacobi-based bidirectional A* (HJBA*) to solve general tight parking scenarios. The algorithm is a two-layer composed of a h…
Dynamic Collision Avoidance Using Velocity Obstacle-Based Control Barrier Functions
Jihao Huang, Jun Zeng, Xuemin Chi +3
Designing safety-critical controllers for acceleration-controlled unicycle robots is challenging, as control inputs may not appear in the constraints of control Lyapunov functions(…
Safe Dynamic Motion Generation in Configuration Space Using Differentiable Distance Fields
Xuemin Chi, Yiming Li, Jihao Huang +3
Generating collision-free motions in dynamic environments is a challenging problem for high-dimensional robotics, particularly under real-time constraints. Control Barrier Function…