Multi-Hypotheses Ego-Tracking for Resilient Navigation
Fuente:
arXiv
Guardado en:
| Autores principales: | , |
|---|---|
| Formato: | Preprint |
| Publicado: |
2025
|
| Materias: | |
| Acceso en línea: | |
| Etiquetas: |
Agregar Etiqueta
Sin Etiquetas, Sea el primero en etiquetar este registro!
|
| _version_ | 1866915637841887232 |
|---|---|
| author | Karstensen, Peter Iwer Hoedt Galeazzi, Roberto |
| author_facet | Karstensen, Peter Iwer Hoedt Galeazzi, Roberto |
| contents | Autonomous robots relying on radio frequency (RF)-based localization such as global navigation satellite system (GNSS), ultra-wide band (UWB), and 5G integrated sensing and communication (ISAC) are vulnerable to spoofing and sensor manipulation. This paper presents a resilient navigation architecture that combines multi-hypothesis estimation with a Poisson binomial windowed-count detector for anomaly identification and isolation. A state machine coordinates transitions between operation, diagnosis, and mitigation, enabling adaptive response to adversarial conditions. When attacks are detected, trajectory re-planning based on differential flatness allows information-gathering maneuvers minimizing performance loss. Case studies demonstrate effective detection of biased sensors, maintenance of state estimation, and recovery of nominal operation under persistent spoofing attacks |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2511_19770 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Multi-Hypotheses Ego-Tracking for Resilient Navigation Karstensen, Peter Iwer Hoedt Galeazzi, Roberto Systems and Control Autonomous robots relying on radio frequency (RF)-based localization such as global navigation satellite system (GNSS), ultra-wide band (UWB), and 5G integrated sensing and communication (ISAC) are vulnerable to spoofing and sensor manipulation. This paper presents a resilient navigation architecture that combines multi-hypothesis estimation with a Poisson binomial windowed-count detector for anomaly identification and isolation. A state machine coordinates transitions between operation, diagnosis, and mitigation, enabling adaptive response to adversarial conditions. When attacks are detected, trajectory re-planning based on differential flatness allows information-gathering maneuvers minimizing performance loss. Case studies demonstrate effective detection of biased sensors, maintenance of state estimation, and recovery of nominal operation under persistent spoofing attacks |
| title | Multi-Hypotheses Ego-Tracking for Resilient Navigation |
| topic | Systems and Control |
| url | https://arxiv.org/abs/2511.19770 |