Secure perception-driven control of mobile robots using chaotic encryption

• Published in: IEEE transactions on automatic control Vol. 69; no. 4; pp. 1 - 8
• Main Authors: Zhang, X., Yuan, Z., Xu, S., Lu, Y., Zhu, M.
• Format: Journal Article
• Language: English
• Published: New York IEEE 01.04.2024; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Algorithms; Ciphers; Cryptography; Data models; Encryption; Image transmission; Linear matrix inequalities; Machine learning; Mathematical analysis; Mobile robots; Path tracking; Perception; Pixels; Robot control; Robot sensing systems; Robotic motion planning; Robust control; security

This paper considers perception-driven control of a mobile robot for path tracking where perception is performed by a machine learning system. The robot is subject to passive attacks and evasion attacks on image transmission. To defeat the passive attacks, we adopt chaotic encryption technique to di...