{"id":"https://openalex.org/W4389666514","doi":"https://doi.org/10.1109/iros55552.2023.10341376","title":"Cyber-Attacks on Wheeled Mobile Robotic Systems with Visual Servoing Control","display_name":"Cyber-Attacks on Wheeled Mobile Robotic Systems with Visual Servoing Control","publication_year":2023,"publication_date":"2023-10-01","ids":{"openalex":"https://openalex.org/W4389666514","doi":"https://doi.org/10.1109/iros55552.2023.10341376"},"language":"en","primary_location":{"id":"doi:10.1109/iros55552.2023.10341376","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros55552.2023.10341376","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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/A5101566871","display_name":"Aleksandar Joki\u0107","orcid":"https://orcid.org/0000-0002-7417-4244"},"institutions":[{"id":"https://openalex.org/I4068193","display_name":"University of Belgrade","ror":"https://ror.org/02qsmb048","country_code":"RS","type":"education","lineage":["https://openalex.org/I4068193"]}],"countries":["RS"],"is_corresponding":true,"raw_author_name":"Aleksandar Jokic","raw_affiliation_strings":["University of Belgrade,Faculty of Mechanical Engineering,Department of Production Engineering,Belgrade,Serbia,11120"],"affiliations":[{"raw_affiliation_string":"University of Belgrade,Faculty of Mechanical Engineering,Department of Production Engineering,Belgrade,Serbia,11120","institution_ids":["https://openalex.org/I4068193"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5083641734","display_name":"Amir Khazraei","orcid":"https://orcid.org/0000-0003-1728-4890"},"institutions":[{"id":"https://openalex.org/I170897317","display_name":"Duke University","ror":"https://ror.org/00py81415","country_code":"US","type":"education","lineage":["https://openalex.org/I170897317"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Amir Khazraei","raw_affiliation_strings":["Duke University,Department of Electrical and Computer Engineering,Durham,NC,USA,27708"],"affiliations":[{"raw_affiliation_string":"Duke University,Department of Electrical and Computer Engineering,Durham,NC,USA,27708","institution_ids":["https://openalex.org/I170897317"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5045213683","display_name":"Milica Petrovi\u0107","orcid":"https://orcid.org/0000-0002-4950-6518"},"institutions":[{"id":"https://openalex.org/I4068193","display_name":"University of Belgrade","ror":"https://ror.org/02qsmb048","country_code":"RS","type":"education","lineage":["https://openalex.org/I4068193"]}],"countries":["RS"],"is_corresponding":false,"raw_author_name":"Milica Petrovic","raw_affiliation_strings":["University of Belgrade,Faculty of Mechanical Engineering,Department of Production Engineering,Belgrade,Serbia,11120"],"affiliations":[{"raw_affiliation_string":"University of Belgrade,Faculty of Mechanical Engineering,Department of Production Engineering,Belgrade,Serbia,11120","institution_ids":["https://openalex.org/I4068193"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025388960","display_name":"\u017divana Jakovljevi\u0107","orcid":"https://orcid.org/0000-0002-7878-2909"},"institutions":[{"id":"https://openalex.org/I4068193","display_name":"University of Belgrade","ror":"https://ror.org/02qsmb048","country_code":"RS","type":"education","lineage":["https://openalex.org/I4068193"]}],"countries":["RS"],"is_corresponding":false,"raw_author_name":"Zivana Jakovljevic","raw_affiliation_strings":["University of Belgrade,Faculty of Mechanical Engineering,Department of Production Engineering,Belgrade,Serbia,11120"],"affiliations":[{"raw_affiliation_string":"University of Belgrade,Faculty of Mechanical Engineering,Department of Production Engineering,Belgrade,Serbia,11120","institution_ids":["https://openalex.org/I4068193"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5086742584","display_name":"Miroslav Paji\u0107","orcid":"https://orcid.org/0000-0002-5357-0117"},"institutions":[{"id":"https://openalex.org/I170897317","display_name":"Duke University","ror":"https://ror.org/00py81415","country_code":"US","type":"education","lineage":["https://openalex.org/I170897317"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Miroslav Pajic","raw_affiliation_strings":["Duke University,Department of Electrical and Computer Engineering,Durham,NC,USA,27708"],"affiliations":[{"raw_affiliation_string":"Duke University,Department of Electrical and Computer Engineering,Durham,NC,USA,27708","institution_ids":["https://openalex.org/I170897317"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5101566871"],"corresponding_institution_ids":["https://openalex.org/I4068193"],"apc_list":null,"apc_paid":null,"fwci":0.4913,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.66694501,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"6342","last_page":"6348"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.9921000003814697,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9921000003814697,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"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/T12859","display_name":"Cell Image Analysis Techniques","score":0.9629999995231628,"subfield":{"id":"https://openalex.org/subfields/1304","display_name":"Biophysics"},"field":{"id":"https://openalex.org/fields/13","display_name":"Biochemistry, Genetics and Molecular Biology"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},{"id":"https://openalex.org/T10331","display_name":"Video Surveillance and Tracking Methods","score":0.9199000000953674,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"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/visual-servoing","display_name":"Visual servoing","score":0.9208102226257324},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7556824684143066},{"id":"https://openalex.org/keywords/exploit","display_name":"Exploit","score":0.7175042629241943},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.6279690265655518},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5847733020782471},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5804871916770935},{"id":"https://openalex.org/keywords/vulnerability","display_name":"Vulnerability (computing)","score":0.5186957120895386},{"id":"https://openalex.org/keywords/visualization","display_name":"Visualization","score":0.5115953087806702},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5081295967102051},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.4241890609264374},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.21215805411338806}],"concepts":[{"id":"https://openalex.org/C10912380","wikidata":"https://www.wikidata.org/wiki/Q527952","display_name":"Visual servoing","level":3,"score":0.9208102226257324},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7556824684143066},{"id":"https://openalex.org/C165696696","wikidata":"https://www.wikidata.org/wiki/Q11287","display_name":"Exploit","level":2,"score":0.7175042629241943},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.6279690265655518},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5847733020782471},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5804871916770935},{"id":"https://openalex.org/C95713431","wikidata":"https://www.wikidata.org/wiki/Q631425","display_name":"Vulnerability (computing)","level":2,"score":0.5186957120895386},{"id":"https://openalex.org/C36464697","wikidata":"https://www.wikidata.org/wiki/Q451553","display_name":"Visualization","level":2,"score":0.5115953087806702},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5081295967102051},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.4241890609264374},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.21215805411338806},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros55552.2023.10341376","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros55552.2023.10341376","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:machinery.mas.bg.ac.rs:123456789/7676","is_oa":false,"landing_page_url":"https://machinery.mas.bg.ac.rs/handle/123456789/7676","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"conferenceObject"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G6268060073","display_name":null,"funder_award_id":"N00014-23-1-2206,N00014-20-1-2745","funder_id":"https://openalex.org/F4320337345","funder_display_name":"Office of Naval Research"}],"funders":[{"id":"https://openalex.org/F4320337345","display_name":"Office of Naval Research","ror":"https://ror.org/00rk2pe57"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":39,"referenced_works":["https://openalex.org/W1233635381","https://openalex.org/W1921864689","https://openalex.org/W2004535784","https://openalex.org/W2005302181","https://openalex.org/W2014491738","https://openalex.org/W2033819227","https://openalex.org/W2054859247","https://openalex.org/W2064355448","https://openalex.org/W2082511574","https://openalex.org/W2082991751","https://openalex.org/W2117759736","https://openalex.org/W2139996173","https://openalex.org/W2142993476","https://openalex.org/W2485992890","https://openalex.org/W2597062023","https://openalex.org/W2601355475","https://openalex.org/W2615750389","https://openalex.org/W2762155482","https://openalex.org/W2786029688","https://openalex.org/W2788822937","https://openalex.org/W2790718760","https://openalex.org/W2914063261","https://openalex.org/W2952604361","https://openalex.org/W2955881216","https://openalex.org/W2965333252","https://openalex.org/W2984759878","https://openalex.org/W3017132417","https://openalex.org/W3135227369","https://openalex.org/W3138047676","https://openalex.org/W3139475260","https://openalex.org/W3194712627","https://openalex.org/W3206677228","https://openalex.org/W3212923689","https://openalex.org/W4312521235","https://openalex.org/W4313029576","https://openalex.org/W4383066176","https://openalex.org/W6628170318","https://openalex.org/W7008970158","https://openalex.org/W7039590554"],"related_works":["https://openalex.org/W17155033","https://openalex.org/W2126852585","https://openalex.org/W2367086100","https://openalex.org/W3207760230","https://openalex.org/W1496222301","https://openalex.org/W4312814274","https://openalex.org/W2906845177","https://openalex.org/W4200107511","https://openalex.org/W2891427086","https://openalex.org/W1968625315"],"abstract_inverted_index":{"Visual":[0],"servoing":[1,48,64],"represents":[2],"a":[3,51,68,93],"control":[4],"strategy":[5],"capable":[6],"of":[7,36,43,81,169],"driving":[8],"dynamical":[9],"systems":[10,38],"from":[11,134],"the":[12,15,19,24,62,74,82,86,103,106,113,117,123,132,135,142,147,150,167],"current":[13,136],"to":[14,45,60],"desired":[16,83,151],"pose,":[17],"when":[18],"only":[20,149],"available":[21],"information":[22],"is":[23,59,105,154],"images":[25,133],"generated":[26],"at":[27],"both":[28],"poses.":[29],"In":[30],"this":[31],"work,":[32],"we":[33,165],"analyze":[34],"vulnerability":[35],"such":[37,67],"and":[39,130,161],"introduce":[40],"two":[41],"types":[42],"attacks":[44,87,104],"deceive":[46],"visual":[47,63],"controller":[49],"within":[50],"wheeled":[52],"mobile":[53,71],"robotic":[54],"system.":[55,118],"The":[56,99,119],"attack":[57,121],"goal":[58],"alter":[61],"procedure":[65],"in":[66,158],"way":[69],"that":[70],"robot":[72],"achieves":[73],"pose":[75,137],"defined":[76],"by":[77],"an":[78],"attacker":[79,114],"instead":[80],"one.":[84],"Specifically,":[85],"exploit":[88],"image":[89,153],"transformations":[90],"developed":[91],"using":[92],"methodology":[94],"based":[95],"on":[96],"simulated":[97],"annealing.":[98],"main":[100],"difference":[101],"between":[102],"considered":[107],"threat":[108],"model":[109],"-":[110],"i.e.,":[111],"how":[112],"has":[115,127],"infiltrated":[116],"first":[120],"assumes":[122],"real-time":[124],"camera":[125],"feed":[126],"been":[128],"compromised":[129],"thus,":[131],"are":[138],"modified":[139],"(e.g.,":[140],"during":[141],"acquisition":[143],"or":[144],"communication);":[145],"for":[146],"second,":[148],"destination":[152],"potentially":[155],"altered.":[156],"Finally,":[157],"3D":[159],"simulations":[160],"real-":[162],"world":[163],"experiments,":[164],"show":[166],"effectiveness":[168],"cyber-attacks.":[170]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
