Secure perception-driven control of mobile robots using chaotic encryption

This paper considers perception-driven control of a mobile robot for reference tracking where perception is performed by a machine learning system. The robot is subject to passive attacks and evasion attacks on image transmission. A robust output feedback controller together with a chaotic encryptio...

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Bibliographic Details
Published inProceedings of the American Control Conference pp. 2575 - 2580
Main Authors Zhang, Xu, Yuan, Zhenyuan, Xu, Siyuan, Lu, Yang, Zhu, Minghui
Format Conference Proceeding
LanguageEnglish
Published American Automatic Control Council 25.05.2021
Subjects
Closed loop systems
Encryption
Image communication
Machine learning
Machine learning algorithms
Mobile robots
Stability analysis
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Summary:This paper considers perception-driven control of a mobile robot for reference tracking where perception is performed by a machine learning system. The robot is subject to passive attacks and evasion attacks on image transmission. A robust output feedback controller together with a chaotic encryption system ensures input-to-state stability of the closed-loop system, and the chaotic encryption approach keeps image transmission secure. Simulations are conducted in the CARLA simulator to demonstrate robust reference tracking and secure image transmission.
ISSN:2378-5861
DOI:10.23919/ACC50511.2021.9483382