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PID Over-Compensates under Attacks
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Classroom Contents
Detection Is Not Enough - Attack Recovery for Safe and Robust Autonomous Robotic Vehicles
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- 1 Intro
- 2 Perception in Robotic Vehicles (RV)
- 3 Sensor Attacks Against Robotic Vehicles (RV)
- 4 Attack Detection, Anomaly Detection
- 5 Failsafe is not enough either...
- 6 Sensor → PID Control → Actuator Signal
- 7 RV under Attack
- 8 PID Over-Compensates under Attacks
- 9 Approach to design Recovery Techniques
- 10 Feedforward Controller (FFC) Design
- 11 Recovery Framework
- 12 Multiple Sensor under Attack
- 13 Attack Setting
- 14 Recovery Goal
- 15 Prevent Erroneous Actuator Signals
- 16 Identify the Sensor(s) under attack
- 17 Isolate Sensor(s) from Control Process
- 18 Substitute Input Sequence: Historic States
- 19 Recovery with Historic State Input
- 20 Without Recovery
