Secure Perception-Driven Control of Mobile Robots Using Chaotic Encryption

Zhang, Xu and Yuan, Zhenyuan and Xu, Siyuan and Lu, Yang and Zhu, Minghui (2021) Secure Perception-Driven Control of Mobile Robots Using Chaotic Encryption. In: 2021 American Control Conference (ACC). IEEE, pp. 2575-2580. ISBN 9781728197043

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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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26 Oct 2022 10:25
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17 Sep 2023 04:11