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Networked robotic systems, such as connected vehicle platoons, can improve the safety and efficiency of transportation networks by allowing for high-speed coordination. To enable such coordination, these systems rely on networked communications. This can make them susceptible to cyber attacks. Though security methods such as encryption or specially designed network topologies can increase the difficulty of successfully executing such an attack, these techniques are unable to guarantee secure communication against an attacker. More troublingly, these security methods are unable to ensure that individual agents are able to detect attacks that alter the content of specific messages. To ensure resilient behavior under such attacks, this paper formulates a networked linear time-varying version of dynamic watermarking in which each agent generates and adds a private excitation to the input of its corresponding robotic subsystem. This paper demonstrates that such a method can enable each agent in a networked robotic system to detect cyber attacks. By altering measurements sent between vehicles, this paper illustrates that an attacker can create unstable behavior within a platoon. By utilizing the dynamic watermarking method proposed in this paper, the attack is detected, allowing the vehicles in the platoon to gracefully degrade to a non-communicative control strategy that maintains safety across a variety of scenarios.
We here investigate secure control of networked control systems developing a new dynamic watermarking (DW) scheme. Firstly, the weaknesses of the conventional DW scheme are revealed, and the tradeoff between the effectiveness of false data injection
In this paper, we investigate the role of a physical watermarking signal in quickest detection of a deception attack in a scalar linear control system where the sensor measurements can be replaced by an arbitrary stationary signal generated by an att
In this paper, we propose and analyze an attack detection scheme for securing the physical layer of a networked control system against attacks where the adversary replaces the true observations with stationary false data. An independent and identical
This paper considers a time-varying optimization problem associated with a network of systems, with each of the systems shared by (and affecting) a number of individuals. The objective is to minimize cost functions associated with the individuals pre
We consider optimization problems for (networked) systems, where we minimize a cost that includes a known time-varying function associated with the systems outputs and an unknown function of the inputs. We focus on a data-based online projected gradi