@inproceedings{43ed1045ebc04340b9035029d7878a8a,
title = "Secure perception-driven control of mobile robots using chaotic encryption",
abstract = "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.",
author = "Xu Zhang and Zhenyuan Yuan and Siyuan Xu and Yang Lu and Minghui Zhu",
note = "Funding Information: The authors are with the School of Electrical Engineering and Computer Science, Pennsylvania State University xxz313@psu.edu, zqy5086@psu.edu, spx5032@psu.edu, yml5046@psu.edu, muz16@psu.edu This work is supported by the awards NSF CNS 1505664 and ECCS 1846706. Publisher Copyright: {\textcopyright} 2021 American Automatic Control Council.; 2021 American Control Conference, ACC 2021 ; Conference date: 25-05-2021 Through 28-05-2021",
year = "2021",
month = may,
day = "25",
doi = "10.23919/ACC50511.2021.9483382",
language = "English (US)",
series = "Proceedings of the American Control Conference",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "2575--2580",
booktitle = "2021 American Control Conference, ACC 2021",
address = "United States",
}