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In this paper, we analyze the vulnerabilities due to novel integrity cyber attacks in CPS, which are modeled as a stochastic Linear Time-Invariant (LTI) system equipped with a Kalman filter, an LQG controller, and a χ2 failure detector from an attacker's standpoint. The attacks are designed by a sophisticated attacker so that the measurement residual of the compromised system coincides with the healthy...
This paper deals with the Simultaneous Localization and Mapping (SLAM) problem for a small Unmanned Aerial Vehicle (UAV) via extended Kalman Filter (EKF) with compensations for unordinary observations. In the SLAM problem, a robot sometimes loses its proper observations then the estimation accuracy deteriorates. In this paper, to remove the effects of unordinary observations, we propose a novel SLAM...
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