{"id":"https://openalex.org/W4416749161","doi":"https://doi.org/10.1109/iros60139.2025.11247729","title":"Secure Safety Filter: Towards Safe Flight Control under Sensor Attacks","display_name":"Secure Safety Filter: Towards Safe Flight Control under Sensor Attacks","publication_year":2025,"publication_date":"2025-10-19","ids":{"openalex":"https://openalex.org/W4416749161","doi":"https://doi.org/10.1109/iros60139.2025.11247729"},"language":null,"primary_location":{"id":"doi:10.1109/iros60139.2025.11247729","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11247729","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 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/A5114367729","display_name":"Xiao Tan","orcid":null},"institutions":[{"id":"https://openalex.org/I122411786","display_name":"California Institute of Technology","ror":"https://ror.org/05dxps055","country_code":"US","type":"education","lineage":["https://openalex.org/I122411786"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Xiao Tan","raw_affiliation_strings":["California Institute of Technology,Department of Mechanical and Civil Engineering,Pasadena,CA,USA,91125"],"affiliations":[{"raw_affiliation_string":"California Institute of Technology,Department of Mechanical and Civil Engineering,Pasadena,CA,USA,91125","institution_ids":["https://openalex.org/I122411786"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5041368522","display_name":"J. Shyam Sundar","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Junior Sundar","raw_affiliation_strings":["Secure Systems Research Center at Technology Innovation Institute,Abu Dhabi,U.A.E"],"affiliations":[{"raw_affiliation_string":"Secure Systems Research Center at Technology Innovation Institute,Abu Dhabi,U.A.E","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5120523038","display_name":"Renzo Bruzzone","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Renzo Bruzzone","raw_affiliation_strings":["Secure Systems Research Center at Technology Innovation Institute,Abu Dhabi,U.A.E"],"affiliations":[{"raw_affiliation_string":"Secure Systems Research Center at Technology Innovation Institute,Abu Dhabi,U.A.E","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5086848492","display_name":"Pio Ong","orcid":"https://orcid.org/0000-0002-9665-1320"},"institutions":[{"id":"https://openalex.org/I122411786","display_name":"California Institute of Technology","ror":"https://ror.org/05dxps055","country_code":"US","type":"education","lineage":["https://openalex.org/I122411786"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Pio Ong","raw_affiliation_strings":["California Institute of Technology,Department of Mechanical and Civil Engineering,Pasadena,CA,USA,91125"],"affiliations":[{"raw_affiliation_string":"California Institute of Technology,Department of Mechanical and Civil Engineering,Pasadena,CA,USA,91125","institution_ids":["https://openalex.org/I122411786"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5054363087","display_name":"Willian T. Lunardi","orcid":"https://orcid.org/0000-0003-0718-0019"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Willian T. Lunardi","raw_affiliation_strings":["Secure Systems Research Center at Technology Innovation Institute,Abu Dhabi,U.A.E"],"affiliations":[{"raw_affiliation_string":"Secure Systems Research Center at Technology Innovation Institute,Abu Dhabi,U.A.E","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025235658","display_name":"Martin Andreoni Lopez","orcid":"https://orcid.org/0000-0002-4170-4341"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Martin Andreoni","raw_affiliation_strings":["Secure Systems Research Center at Technology Innovation Institute,Abu Dhabi,U.A.E"],"affiliations":[{"raw_affiliation_string":"Secure Systems Research Center at Technology Innovation Institute,Abu Dhabi,U.A.E","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5047674203","display_name":"Paulo Tabuada","orcid":"https://orcid.org/0000-0002-3417-0951"},"institutions":[{"id":"https://openalex.org/I161318765","display_name":"University of California, Los Angeles","ror":"https://ror.org/046rm7j60","country_code":"US","type":"education","lineage":["https://openalex.org/I161318765"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Paulo Tabuada","raw_affiliation_strings":["University of California,Department of Electrical and Computer Engineering,Los Angeles,CA,USA,90095"],"affiliations":[{"raw_affiliation_string":"University of California,Department of Electrical and Computer Engineering,Los Angeles,CA,USA,90095","institution_ids":["https://openalex.org/I161318765"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5039171820","display_name":"Aaron D. Ames","orcid":"https://orcid.org/0000-0003-0848-3177"},"institutions":[{"id":"https://openalex.org/I122411786","display_name":"California Institute of Technology","ror":"https://ror.org/05dxps055","country_code":"US","type":"education","lineage":["https://openalex.org/I122411786"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Aaron D. Ames","raw_affiliation_strings":["California Institute of Technology,Department of Mechanical and Civil Engineering,Pasadena,CA,USA,91125"],"affiliations":[{"raw_affiliation_string":"California Institute of Technology,Department of Mechanical and Civil Engineering,Pasadena,CA,USA,91125","institution_ids":["https://openalex.org/I122411786"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":8,"corresponding_author_ids":["https://openalex.org/A5114367729"],"corresponding_institution_ids":["https://openalex.org/I122411786"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.48280996,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"195","last_page":"202"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10917","display_name":"Smart Grid Security and Resilience","score":0.3199000060558319,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10917","display_name":"Smart Grid Security and Resilience","score":0.3199000060558319,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11689","display_name":"Adversarial Robustness in Machine Learning","score":0.25940001010894775,"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/T11489","display_name":"Air Traffic Management and Optimization","score":0.06499999761581421,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/modular-design","display_name":"Modular design","score":0.5748000144958496},{"id":"https://openalex.org/keywords/filter","display_name":"Filter (signal processing)","score":0.5390999913215637},{"id":"https://openalex.org/keywords/autopilot","display_name":"Autopilot","score":0.4553999900817871},{"id":"https://openalex.org/keywords/system-safety","display_name":"System safety","score":0.423799991607666},{"id":"https://openalex.org/keywords/drone","display_name":"Drone","score":0.40220001339912415},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.3955000042915344},{"id":"https://openalex.org/keywords/noise","display_name":"Noise (video)","score":0.3894999921321869},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.36059999465942383}],"concepts":[{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.5748000144958496},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5418999791145325},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.5390999913215637},{"id":"https://openalex.org/C18020424","wikidata":"https://www.wikidata.org/wiki/Q220858","display_name":"Autopilot","level":2,"score":0.4553999900817871},{"id":"https://openalex.org/C132835097","wikidata":"https://www.wikidata.org/wiki/Q7663745","display_name":"System safety","level":2,"score":0.423799991607666},{"id":"https://openalex.org/C59519942","wikidata":"https://www.wikidata.org/wiki/Q650665","display_name":"Drone","level":2,"score":0.40220001339912415},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.3955000042915344},{"id":"https://openalex.org/C99498987","wikidata":"https://www.wikidata.org/wiki/Q2210247","display_name":"Noise (video)","level":3,"score":0.3894999921321869},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.36480000615119934},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.36059999465942383},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3562000095844269},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.35429999232292175},{"id":"https://openalex.org/C34388435","wikidata":"https://www.wikidata.org/wiki/Q2267362","display_name":"Bounded function","level":2,"score":0.3452000021934509},{"id":"https://openalex.org/C42259789","wikidata":"https://www.wikidata.org/wiki/Q1392940","display_name":"Fail-safe","level":2,"score":0.3391000032424927},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.3377000093460083},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.33500000834465027},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.3237999975681305},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.32170000672340393},{"id":"https://openalex.org/C205711294","wikidata":"https://www.wikidata.org/wiki/Q176953","display_name":"Rendering (computer graphics)","level":2,"score":0.31360000371932983},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.2939000129699707},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.29269999265670776},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.28519999980926514},{"id":"https://openalex.org/C72218879","wikidata":"https://www.wikidata.org/wiki/Q4839759","display_name":"Backstepping","level":4,"score":0.28220000863075256},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.2759999930858612},{"id":"https://openalex.org/C137685913","wikidata":"https://www.wikidata.org/wiki/Q4316763","display_name":"Nonlinear filter","level":4,"score":0.26919999718666077},{"id":"https://openalex.org/C127757376","wikidata":"https://www.wikidata.org/wiki/Q2056514","display_name":"Active safety","level":2,"score":0.2637999951839447},{"id":"https://openalex.org/C2777904410","wikidata":"https://www.wikidata.org/wiki/Q7397","display_name":"Software","level":2,"score":0.25119999051094055}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros60139.2025.11247729","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11247729","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W1578294898","https://openalex.org/W1973734421","https://openalex.org/W2009257627","https://openalex.org/W2010973666","https://openalex.org/W2030140501","https://openalex.org/W2038651258","https://openalex.org/W2062132646","https://openalex.org/W2068740779","https://openalex.org/W2107043025","https://openalex.org/W2560504659","https://openalex.org/W2725499676","https://openalex.org/W2735010720","https://openalex.org/W2887154784","https://openalex.org/W2963639842","https://openalex.org/W2968945909","https://openalex.org/W3080825594","https://openalex.org/W4298286346","https://openalex.org/W4387123822","https://openalex.org/W4388903548","https://openalex.org/W4407950158","https://openalex.org/W4410491943","https://openalex.org/W4413394451"],"related_works":[],"abstract_inverted_index":{"Modern":[0],"autopilot":[1],"systems":[2],"are":[3],"prone":[4],"to":[5,36,68,98],"sensor":[6,41,127],"attacks":[7],"that":[8,65],"can":[9],"jeopardize":[10],"flight":[11],"safety.":[12],"To":[13],"mitigate":[14],"this":[15],"risk,":[16],"we":[17],"proposed":[18,82],"a":[19,47,56],"modular":[20],"solution:":[21],"the":[22,28,61,69,81,99,111,114,120,124],"secure":[23,48,83,115],"safety":[24,34,57,84,116],"filter,":[25],"which":[26],"extends":[27],"well-established":[29],"control":[30,63],"barrier":[31],"function":[32],"(CBF)-based":[33],"filter":[35,58,85,117],"account":[37],"for,":[38],"and":[39,55,106],"mitigate,":[40],"attacks.":[42,128],"This":[43],"module":[44],"consists":[45],"of":[46,102,113,126],"state":[49],"reconstructor":[50],"(which":[51,59],"generates":[52],"plausible":[53],"states)":[54],"computes":[60],"safe":[62,122],"input":[64],"is":[66,96],"closest":[67],"nominal":[70],"one).":[71],"Differing":[72],"from":[73],"existing":[74],"work":[75],"focusing":[76],"on":[77],"linear,":[78],"noise-free":[79],"systems,":[80],"handles":[86],"bounded":[87],"measurement":[88],"noise":[89],"and,":[90],"by":[91],"leveraging":[92],"reduced-order":[93],"model":[94],"techniques,":[95],"applicable":[97],"nonlinear":[100],"dynamics":[101],"drones.":[103],"Software-in-the-loop":[104],"simulations":[105],"drone":[107],"hardware":[108],"experiments":[109],"demonstrate":[110],"effectiveness":[112],"in":[118,123],"rendering":[119],"system":[121],"presence":[125]},"counts_by_year":[],"updated_date":"2026-03-07T16:01:11.037858","created_date":"2025-11-28T00:00:00"}
