{"id":"https://openalex.org/W4413925366","doi":"https://doi.org/10.1109/icra55743.2025.11128007","title":"Prepared for the Worst: Resilience Analysis of the ICP Algorithm via Learning-Based Worst-Case Adversarial Attacks","display_name":"Prepared for the Worst: Resilience Analysis of the ICP Algorithm via Learning-Based Worst-Case Adversarial Attacks","publication_year":2025,"publication_date":"2025-05-19","ids":{"openalex":"https://openalex.org/W4413925366","doi":"https://doi.org/10.1109/icra55743.2025.11128007"},"language":"en","primary_location":{"id":"doi:10.1109/icra55743.2025.11128007","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11128007","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5083161338","display_name":"Ziyu Zhang","orcid":"https://orcid.org/0000-0003-1423-7036"},"institutions":[{"id":"https://openalex.org/I3143791293","display_name":"Institute for Christian Studies","ror":"https://ror.org/054dn2d35","country_code":"CA","type":"education","lineage":["https://openalex.org/I3143791293"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Ziyu Zhang","raw_affiliation_strings":["University of Toronto Institute for Aerospace Studies (UTIAS),Ontario,Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Toronto Institute for Aerospace Studies (UTIAS),Ontario,Canada","institution_ids":["https://openalex.org/I3143791293"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021097071","display_name":"Johann Laconte","orcid":"https://orcid.org/0000-0002-2274-9835"},"institutions":[{"id":"https://openalex.org/I3143791293","display_name":"Institute for Christian Studies","ror":"https://ror.org/054dn2d35","country_code":"CA","type":"education","lineage":["https://openalex.org/I3143791293"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Johann Laconte","raw_affiliation_strings":["University of Toronto Institute for Aerospace Studies (UTIAS),Ontario,Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Toronto Institute for Aerospace Studies (UTIAS),Ontario,Canada","institution_ids":["https://openalex.org/I3143791293"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5067895181","display_name":"Daniil Lisus","orcid":"https://orcid.org/0000-0003-0520-4603"},"institutions":[{"id":"https://openalex.org/I3143791293","display_name":"Institute for Christian Studies","ror":"https://ror.org/054dn2d35","country_code":"CA","type":"education","lineage":["https://openalex.org/I3143791293"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Daniil Lisus","raw_affiliation_strings":["University of Toronto Institute for Aerospace Studies (UTIAS),Ontario,Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Toronto Institute for Aerospace Studies (UTIAS),Ontario,Canada","institution_ids":["https://openalex.org/I3143791293"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5004788089","display_name":"Timothy D. Barfoot","orcid":"https://orcid.org/0000-0003-3899-631X"},"institutions":[{"id":"https://openalex.org/I3143791293","display_name":"Institute for Christian Studies","ror":"https://ror.org/054dn2d35","country_code":"CA","type":"education","lineage":["https://openalex.org/I3143791293"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Timothy D. Barfoot","raw_affiliation_strings":["University of Toronto Institute for Aerospace Studies (UTIAS),Ontario,Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Toronto Institute for Aerospace Studies (UTIAS),Ontario,Canada","institution_ids":["https://openalex.org/I3143791293"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I3143791293"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.10568557,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"15174","last_page":"15180"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11689","display_name":"Adversarial Robustness in Machine Learning","score":0.9991000294685364,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11689","display_name":"Adversarial Robustness in Machine Learning","score":0.9991000294685364,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10400","display_name":"Network Security and Intrusion Detection","score":0.9889000058174133,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11512","display_name":"Anomaly Detection Techniques and Applications","score":0.9848999977111816,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/adversarial-system","display_name":"Adversarial system","score":0.7807968854904175},{"id":"https://openalex.org/keywords/resilience","display_name":"Resilience (materials science)","score":0.7334672808647156},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7076420783996582},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.46945279836654663},{"id":"https://openalex.org/keywords/algorithm-design","display_name":"Algorithm design","score":0.4143187999725342},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.26897895336151123},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.08056843280792236}],"concepts":[{"id":"https://openalex.org/C37736160","wikidata":"https://www.wikidata.org/wiki/Q1801315","display_name":"Adversarial system","level":2,"score":0.7807968854904175},{"id":"https://openalex.org/C2779585090","wikidata":"https://www.wikidata.org/wiki/Q3457762","display_name":"Resilience (materials science)","level":2,"score":0.7334672808647156},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7076420783996582},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.46945279836654663},{"id":"https://openalex.org/C106516650","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm design","level":2,"score":0.4143187999725342},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.26897895336151123},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.08056843280792236},{"id":"https://openalex.org/C159985019","wikidata":"https://www.wikidata.org/wiki/Q181790","display_name":"Composite material","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra55743.2025.11128007","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11128007","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W1567242735","https://openalex.org/W2049981393","https://openalex.org/W2169901455","https://openalex.org/W2905253977","https://openalex.org/W2962778872","https://openalex.org/W2967205338","https://openalex.org/W3004135102","https://openalex.org/W3034376720","https://openalex.org/W3187371917","https://openalex.org/W3208130176","https://openalex.org/W3211853936","https://openalex.org/W4210960145","https://openalex.org/W4221156702","https://openalex.org/W4230475428","https://openalex.org/W4249866455","https://openalex.org/W4286543002","https://openalex.org/W4300437862","https://openalex.org/W4312755434","https://openalex.org/W4323357662","https://openalex.org/W4327692895","https://openalex.org/W4385412307","https://openalex.org/W4388983935","https://openalex.org/W4390204308","https://openalex.org/W4390719155","https://openalex.org/W4392515775","https://openalex.org/W4410907070"],"related_works":["https://openalex.org/W2393888177","https://openalex.org/W2544423928","https://openalex.org/W2117183908","https://openalex.org/W2115794623","https://openalex.org/W4406345323","https://openalex.org/W2067173559","https://openalex.org/W2148738811","https://openalex.org/W1613730747","https://openalex.org/W2541389358","https://openalex.org/W4318948887"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,121,138,180],"novel":[4],"method":[5,105],"for":[6,47],"assessing":[7,80],"the":[8,11,33,45,72,100,109,148,177],"resilience":[9,34,82,101],"of":[10,35,77,102,176,183],"iterative":[12,75],"closest":[13],"point":[14,23],"(ICP)":[15],"algorithm":[16,43],"via":[17],"learning-based,":[18],"worst-case":[19],"attacks":[20,129],"on":[21,107,137],"lidar":[22],"clouds.":[24],"For":[25],"safety-critical":[26],"applications":[27],"such":[28,151],"as":[29],"autonomous":[30,153],"navigation,":[31],"ensuring":[32],"algorithms":[36],"before":[37],"deployments":[38],"is":[39,44,142],"crucial.":[40],"The":[41,168],"ICP":[42,78,112,141],"standard":[46],"lidar-based":[48],"localization,":[49],"but":[50],"its":[51,81],"accuracy":[52],"can":[53,115,130,155],"be":[54,131],"greatly":[55],"affected":[56],"by":[57],"corrupted":[58,118],"measurements":[59,119,165],"from":[60,117],"various":[61],"sources,":[62],"including":[63],"occlusions,":[64],"adverse":[65],"weather,":[66],"or":[67],"mechanical":[68],"sensor":[69],"issues.":[70],"Unfortunately,":[71],"complex":[73],"and":[74,95],"nature":[76],"makes":[79],"to":[83,91,98,134,145,161],"corruption":[84],"challenging.":[85],"While":[86],"there":[87],"have":[88],"been":[89],"efforts":[90],"create":[92],"challenging":[93],"datasets":[94],"develop":[96],"simulations":[97],"evaluate":[99],"ICP,":[103],"our":[104,126],"focuses":[106],"finding":[108],"maximum":[110],"possible":[111],"error":[113],"that":[114,125],"arise":[116],"at":[120],"location.":[122],"We":[123],"demonstrate":[124],"perturbation-based":[127],"adversarial":[128],"used":[132],"pre-deployment":[133],"identify":[135],"locations":[136],"map":[139],"where":[140],"particularly":[143],"vulnerable":[144],"corruptions":[146],"in":[147],"measurements.":[149],"With":[150],"information,":[152],"robots":[154],"take":[156],"safer":[157],"paths":[158],"when":[159],"deployed,":[160],"mitigate":[162],"against":[163],"their":[164],"being":[166],"corrupted.":[167],"proposed":[169],"attack":[170],"outperforms":[171],"baselines":[172],"more":[173],"than":[174],"88%":[175],"time":[178],"across":[179],"wide":[181],"range":[182],"scenarios.":[184]},"counts_by_year":[],"updated_date":"2026-06-26T08:34:08.712188","created_date":"2025-10-10T00:00:00"}
