{"id":"https://openalex.org/W2951899757","doi":"https://doi.org/10.1109/lcsys.2019.2921753","title":"Secure Navigation of Robots in Adversarial Environments","display_name":"Secure Navigation of Robots in Adversarial Environments","publication_year":2019,"publication_date":"2019-06-07","ids":{"openalex":"https://openalex.org/W2951899757","doi":"https://doi.org/10.1109/lcsys.2019.2921753","mag":"2951899757"},"language":"en","primary_location":{"id":"doi:10.1109/lcsys.2019.2921753","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lcsys.2019.2921753","pdf_url":null,"source":{"id":"https://openalex.org/S4306422535","display_name":"IEEE Control Systems Letters","issn_l":"2475-1456","issn":["2475-1456"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Control Systems Letters","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://hdl.handle.net/2078/278033","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5051265052","display_name":"Gianluca Bianchin","orcid":"https://orcid.org/0000-0002-3234-5535"},"institutions":[{"id":"https://openalex.org/I103635307","display_name":"University of California, Riverside","ror":"https://ror.org/03nawhv43","country_code":"US","type":"education","lineage":["https://openalex.org/I103635307"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Gianluca Bianchin","raw_affiliation_strings":["Department of Mechanical Engineering, University of California at Riverside, Riverside, CA, USA"],"raw_orcid":"https://orcid.org/0000-0002-3234-5535","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of California at Riverside, Riverside, CA, USA","institution_ids":["https://openalex.org/I103635307"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5060610837","display_name":"Yinchen Liu","orcid":"https://orcid.org/0000-0002-7101-0834"},"institutions":[{"id":"https://openalex.org/I103635307","display_name":"University of California, Riverside","ror":"https://ror.org/03nawhv43","country_code":"US","type":"education","lineage":["https://openalex.org/I103635307"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yin-Chen Liu","raw_affiliation_strings":["Department of Mechanical Engineering, University of California at Riverside, Riverside, CA, USA"],"raw_orcid":"https://orcid.org/0000-0002-7101-0834","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of California at Riverside, Riverside, CA, USA","institution_ids":["https://openalex.org/I103635307"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5049920415","display_name":"Fabio Pasqualetti","orcid":"https://orcid.org/0000-0002-8457-8656"},"institutions":[{"id":"https://openalex.org/I103635307","display_name":"University of California, Riverside","ror":"https://ror.org/03nawhv43","country_code":"US","type":"education","lineage":["https://openalex.org/I103635307"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Fabio Pasqualetti","raw_affiliation_strings":["Department of Mechanical Engineering, University of California at Riverside, Riverside, CA, USA"],"raw_orcid":"https://orcid.org/0000-0002-8457-8656","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of California at Riverside, Riverside, CA, USA","institution_ids":["https://openalex.org/I103635307"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.5292,"has_fulltext":false,"cited_by_count":29,"citation_normalized_percentile":{"value":0.8958929,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"4","issue":"1","first_page":"1","last_page":"6"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10917","display_name":"Smart Grid Security and Resilience","score":0.9987000226974487,"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":0.9987000226974487,"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/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9699000120162964,"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/T11498","display_name":"Security in Wireless Sensor Networks","score":0.968500018119812,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.7591089010238647},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6702603697776794},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5190630555152893},{"id":"https://openalex.org/keywords/gnss-applications","display_name":"GNSS applications","score":0.5156704187393188},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.496613085269928},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.486973375082016},{"id":"https://openalex.org/keywords/planner","display_name":"Planner","score":0.4414324462413788},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.4343022108078003},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.31158149242401123},{"id":"https://openalex.org/keywords/global-positioning-system","display_name":"Global Positioning System","score":0.29799920320510864},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.12529408931732178}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7591089010238647},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6702603697776794},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5190630555152893},{"id":"https://openalex.org/C14279187","wikidata":"https://www.wikidata.org/wiki/Q5514012","display_name":"GNSS applications","level":3,"score":0.5156704187393188},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.496613085269928},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.486973375082016},{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.4414324462413788},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.4343022108078003},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.31158149242401123},{"id":"https://openalex.org/C60229501","wikidata":"https://www.wikidata.org/wiki/Q18822","display_name":"Global Positioning System","level":2,"score":0.29799920320510864},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.12529408931732178},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/lcsys.2019.2921753","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lcsys.2019.2921753","pdf_url":null,"source":{"id":"https://openalex.org/S4306422535","display_name":"IEEE Control Systems Letters","issn_l":"2475-1456","issn":["2475-1456"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Control Systems Letters","raw_type":"journal-article"},{"id":"pmh:oai:dial.uclouvain.be:boreal:278033","is_oa":true,"landing_page_url":"http://hdl.handle.net/2078/278033","pdf_url":null,"source":{"id":"https://openalex.org/S4306401974","display_name":"DIAL (Catholic University of Leuven)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I99464096","host_organization_name":"KU Leuven","host_organization_lineage":["https://openalex.org/I99464096"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Control Systems Letters, Vol. 4, no.1, p. 1-6 (2020)","raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":{"id":"pmh:oai:dial.uclouvain.be:boreal:278033","is_oa":true,"landing_page_url":"http://hdl.handle.net/2078/278033","pdf_url":null,"source":{"id":"https://openalex.org/S4306401974","display_name":"DIAL (Catholic University of Leuven)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I99464096","host_organization_name":"KU Leuven","host_organization_lineage":["https://openalex.org/I99464096"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Control Systems Letters, Vol. 4, no.1, p. 1-6 (2020)","raw_type":"info:eu-repo/semantics/article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G3554877687","display_name":null,"funder_award_id":"N00014-19-1-2264","funder_id":"https://openalex.org/F4320337345","funder_display_name":"Office of Naval Research"},{"id":"https://openalex.org/G55216455","display_name":null,"funder_award_id":"71603NSYIP","funder_id":"https://openalex.org/F4320338281","funder_display_name":"Army Research Office"},{"id":"https://openalex.org/G7180822308","display_name":null,"funder_award_id":"CNS1646641","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"},{"id":"https://openalex.org/F4320337345","display_name":"Office of Naval Research","ror":"https://ror.org/00rk2pe57"},{"id":"https://openalex.org/F4320338281","display_name":"Army Research Office","ror":"https://ror.org/05epdh915"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W141232359","https://openalex.org/W1578630563","https://openalex.org/W1968787321","https://openalex.org/W1982019931","https://openalex.org/W1996092706","https://openalex.org/W2003530067","https://openalex.org/W2015086338","https://openalex.org/W2288387612","https://openalex.org/W2411925053","https://openalex.org/W2555431798","https://openalex.org/W2616310354","https://openalex.org/W2804002131","https://openalex.org/W2973136994","https://openalex.org/W2982793363","https://openalex.org/W3100571116","https://openalex.org/W3105547033","https://openalex.org/W6730385413","https://openalex.org/W6759822229","https://openalex.org/W6768388653"],"related_works":["https://openalex.org/W3096629846","https://openalex.org/W2133480300","https://openalex.org/W4308427659","https://openalex.org/W1539483014","https://openalex.org/W260566294","https://openalex.org/W2124899340","https://openalex.org/W2107501891","https://openalex.org/W3004073771","https://openalex.org/W2142969240","https://openalex.org/W2209116470"],"abstract_inverted_index":{"We":[0,31,99],"study":[1],"the":[2,13,23,78,87,96,101,127],"problem":[3],"of":[4,28,65,103],"navigating":[5],"a":[6,40,48,63,110],"robot":[7],"in":[8,145],"an":[9,29],"adversarial":[10,148],"environment,":[11],"where":[12],"objective":[14],"is":[15,158],"to":[16,62,86,91,130,160,163],"perform":[17],"localization":[18],"and":[19,25,47,81,108,123,147,153],"trajectory":[20,94,128,143,156],"planning":[21,144],"despite":[22],"malicious":[24],"unknown":[26],"action":[27],"attacker.":[30],"consider":[32],"robots":[33],"with":[34,39,60,69],"single":[35],"integrator":[36],"dynamics,":[37],"equipped":[38],"Global":[41],"Navigation":[42],"Satellite":[43],"System":[44],"(GNSS)":[45],"sensor":[46,54,79],"Radio":[49],"Signal":[50],"Strength":[51],"Indicator":[52],"(RSSI)":[53],"that":[55,105,119,142,154],"provides":[56],"relative":[57],"positioning":[58],"information":[59],"respect":[61],"group":[64],"radio":[66],"stations,":[67],"each":[68],"limited":[70],"communication":[71],"range.":[72],"The":[73],"attacker":[74],"can":[75],"simultaneously":[76],"spoof":[77],"readings":[80],"send":[82],"falsified":[83],"control":[84,121],"inputs":[85],"robot,":[88],"so":[89],"as":[90],"deviate":[92],"its":[93],"from":[95],"nominal":[97,146],"path.":[98],"demonstrate":[100],"existence":[102],"attacks":[104],"escape":[106],"detectability,":[107],"illustrate":[109],"method":[111],"for":[112],"their":[113],"systematic":[114],"design.":[115],"Conversely,":[116],"we":[117],"show":[118,141],"appropriate":[120],"design":[122,157],"waypoints":[124],"selection":[125],"allow":[126],"planner":[129],"ensure":[131,161],"attack":[132],"detectability":[133],"or":[134],"secure":[135],"navigation.":[136],"More":[137],"generally,":[138],"our":[139],"results":[140],"settings":[149],"are":[150],"substantially":[151],"different,":[152],"careful":[155],"required":[159],"resilience":[162],"attacks.":[164]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":7},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":5},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":3}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}