Report on Current Developments in Cyber-Physical Systems and Robotics
General Direction of the Field
The recent advancements in the field of cyber-physical systems (CPS) and robotics are primarily focused on enhancing resilience, security, and collaboration across various platforms. The integration of sophisticated algorithms and real-world applications is driving the development of more robust and secure systems. Key areas of innovation include the detection and mitigation of cyberattacks, the optimization of communication security, and the improvement of collaborative operations in challenging environments.
Resilience Against Cyberattacks: There is a significant push towards developing undetectable false data injection attacks (FDIAs) and corresponding detection mechanisms. The use of affine transformations and state monitoring signature functions (SMSF) are notable advancements in this area. These innovations aim to safeguard CPS against deceptive attacks that can degrade system performance while remaining undetected.
Communication Security: The field is witnessing a shift towards utilizing omnidirectional multi-rotor aerial vehicles (MRAVs) for enhancing communication security. Strategies involving MRAVs as aerial base stations and friendly jammers are being explored to thwart eavesdropping and secure communications.
Collaborative Operations: There is a growing emphasis on collaborative systems involving Unmanned Aerial Vehicles (UAVs) and Unmanned Surface Vehicles (USVs). Novel mathematical models and trajectory planning techniques are being developed to enable effective collaboration in harsh maritime conditions, including large waves.
Localization and Navigation: Alternative navigation systems are being developed to complement GPS, especially in GNSS-restricted environments. Vision-based UAV-assisted localization for USVs is a promising approach that leverages deep learning and triangulation techniques to enhance navigation accuracy.
Integrity Monitoring: Multi-robot systems are adopting range-based integrity monitoring frameworks to detect and mitigate cyberattacks and faults. These frameworks utilize inter-robot range measurements and advanced algorithms to ensure system integrity and reliability.
Noteworthy Papers
- Perfectly Undetectable Reflection and Scaling False Data Injection Attacks via Affine Transformation on Mobile Robot Trajectory Tracking Control: Introduces a novel attack method using affine transformations and a state monitoring signature function (SMSF) for detection.
- Harnessing the Potential of Omnidirectional Multi-Rotor Aerial Vehicles in Cooperative Jamming Against Eavesdropping: Proposes a strategy using omnidirectional MRAVs to enhance communication security and thwart eavesdropping.
- Towards UAV-USV Collaboration in Harsh Maritime Conditions Including Large Waves: Develops a novel mathematical USV model and trajectory planner for effective UAV-USV collaboration in challenging environments.
- Long-Range Vision-Based UAV-assisted Localization for Unmanned Surface Vehicles: Presents a vision-based localization method using UAVs to assist USVs in GNSS-restricted environments, validated through real-world experiments.
- Range-based Multi-Robot Integrity Monitoring Against Cyberattacks and Faults: An Anchor-Free Approach: Introduces a multi-robot integrity monitoring framework using inter-robot range measurements to detect and mitigate cyberattacks and faults.
These papers represent significant advancements in the field, showcasing innovative approaches and practical applications that are shaping the future of cyber-physical systems and robotics.
