{"id":"https://openalex.org/W7154500459","doi":"https://doi.org/10.48550/arxiv.2604.12418","title":"RACF: A Resilient Autonomous Car Framework with Object Distance Correction","display_name":"RACF: A Resilient Autonomous Car Framework with Object Distance Correction","publication_year":2026,"publication_date":"2026-04-14","ids":{"openalex":"https://openalex.org/W7154500459","doi":"https://doi.org/10.48550/arxiv.2604.12418"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2604.12418","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2604.12418","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2604.12418","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5133684091","display_name":"Chieh Tsai","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Tsai, Chieh","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5085452242","display_name":"Hossein Rastgoftar","orcid":"https://orcid.org/0000-0001-9212-7161"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Rastgoftar, Hossein","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5133688989","display_name":"Salim Hariri","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Hariri, Salim","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11689","display_name":"Adversarial Robustness in Machine Learning","score":0.40880000591278076,"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":0.40880000591278076,"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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.1881999969482422,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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/T10036","display_name":"Advanced Neural Network Applications","score":0.14650000631809235,"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/robustness","display_name":"Robustness (evolution)","score":0.6399000287055969},{"id":"https://openalex.org/keywords/testbed","display_name":"Testbed","score":0.6136999726295471},{"id":"https://openalex.org/keywords/redundancy","display_name":"Redundancy (engineering)","score":0.5404000282287598},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.5059999823570251},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.43689998984336853},{"id":"https://openalex.org/keywords/remotely-operated-underwater-vehicle","display_name":"Remotely operated underwater vehicle","score":0.3384999930858612},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.3294000029563904},{"id":"https://openalex.org/keywords/object-detection","display_name":"Object detection","score":0.31850001215934753}],"concepts":[{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6399000287055969},{"id":"https://openalex.org/C31395832","wikidata":"https://www.wikidata.org/wiki/Q1318674","display_name":"Testbed","level":2,"score":0.6136999726295471},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5799000263214111},{"id":"https://openalex.org/C152124472","wikidata":"https://www.wikidata.org/wiki/Q1204361","display_name":"Redundancy (engineering)","level":2,"score":0.5404000282287598},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.5059999823570251},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.4982999861240387},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.43689998984336853},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3837999999523163},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3605000078678131},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.34040001034736633},{"id":"https://openalex.org/C145424490","wikidata":"https://www.wikidata.org/wiki/Q618465","display_name":"Remotely operated underwater vehicle","level":4,"score":0.3384999930858612},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.3294000029563904},{"id":"https://openalex.org/C2776151529","wikidata":"https://www.wikidata.org/wiki/Q3045304","display_name":"Object detection","level":3,"score":0.31850001215934753},{"id":"https://openalex.org/C2781133158","wikidata":"https://www.wikidata.org/wiki/Q1088669","display_name":"Survivability","level":2,"score":0.3172999918460846},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.3156000077724457},{"id":"https://openalex.org/C111335779","wikidata":"https://www.wikidata.org/wiki/Q3454686","display_name":"Reduction (mathematics)","level":2,"score":0.3003999888896942},{"id":"https://openalex.org/C2780704645","wikidata":"https://www.wikidata.org/wiki/Q9251458","display_name":"Observer (physics)","level":2,"score":0.28519999980926514},{"id":"https://openalex.org/C37736160","wikidata":"https://www.wikidata.org/wiki/Q1801315","display_name":"Adversarial system","level":2,"score":0.2838999927043915},{"id":"https://openalex.org/C127757376","wikidata":"https://www.wikidata.org/wiki/Q2056514","display_name":"Active safety","level":2,"score":0.27300000190734863},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.27250000834465027},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.2696000039577484},{"id":"https://openalex.org/C169806903","wikidata":"https://www.wikidata.org/wiki/Q5937752","display_name":"Human error","level":2,"score":0.2694000005722046},{"id":"https://openalex.org/C2987248590","wikidata":"https://www.wikidata.org/wiki/Q4419860","display_name":"Unmanned surface vehicle","level":2,"score":0.2619999945163727},{"id":"https://openalex.org/C116834253","wikidata":"https://www.wikidata.org/wiki/Q2039217","display_name":"Identification (biology)","level":2,"score":0.2524999976158142},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.25130000710487366}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2604.12418","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2604.12418","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2604.12418","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2604.12418","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"sustainable_development_goals":[{"score":0.8057457804679871,"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Autonomous":[0,74],"vehicles":[1],"are":[2,56],"increasingly":[3],"deployed":[4],"in":[5,20,171],"safety-critical":[6,186],"applications,":[7],"where":[8],"sensing":[9],"failures":[10],"or":[11],"cyberphysical":[12],"attacks":[13],"can":[14],"lead":[15],"to":[16,47,62,86,122,155,182],"unsafe":[17],"operations":[18,37],"resulting":[19],"human":[21],"loss":[22],"and/or":[23],"severe":[24],"physical":[25],"damages.":[26],"Reliable":[27],"real-time":[28],"perception":[29,184],"is":[30,45,113],"therefore":[31],"critically":[32],"important":[33],"for":[34,185],"their":[35,65],"safe":[36,68],"and":[38,50,53,59,92,99,136,162,166,179],"acceptability.":[39],"For":[40],"example,":[41],"vision-based":[42],"distance":[43,107],"estimation":[44,108],"vulnerable":[46],"environmental":[48],"degradation":[49],"adversarial":[51],"perturbations,":[52],"existing":[54],"defenses":[55],"often":[57],"reactive":[58],"too":[60],"slow":[61],"promptly":[63],"mitigate":[64],"impacts":[66],"on":[67,140],"operations.":[69],"We":[70,127],"present":[71],"a":[72,95,115,141,177],"Resilient":[73],"Car":[75],"Framework":[76],"(RACF)":[77],"that":[78],"incorporates":[79],"an":[80],"Object":[81],"Distance":[82],"Correction":[83],"Algorithm":[84],"(ODCA)":[85],"improve":[87],"perception-layer":[88],"robustness":[89],"through":[90],"redundancy":[91],"diversity":[93],"across":[94],"depth":[96,111],"camera,":[97],"LiDAR,":[98],"physics-based":[100],"kinematics.":[101],"Within":[102],"this":[103],"framework,":[104],"when":[105],"obstacle":[106],"produced":[109],"by":[110],"camera":[112],"inconsistent,":[114],"cross-sensor":[116],"gate":[117],"activates":[118],"the":[119,124,131,145],"correction":[120],"algorithm":[121],"fix":[123],"detected":[125],"inconsistency.":[126],"have":[128],"experiment":[129],"with":[130],"proposed":[132],"resilient":[133,183],"car":[134],"framework":[135,152],"evaluate":[137],"its":[138],"performance":[139],"testbed":[142],"implemented":[143],"using":[144],"Quanser":[146],"QCar":[147],"2":[148],"platform.":[149],"The":[150],"presented":[151],"achieved":[153],"up":[154],"35%":[156],"RMSE":[157],"reduction":[158],"under":[159],"strong":[160],"corruption":[161],"improves":[163],"stop":[164],"compliance":[165],"braking":[167],"latency,":[168],"while":[169],"operating":[170],"real":[172],"time.":[173],"These":[174],"results":[175],"demonstrate":[176],"practical":[178],"lightweight":[180],"approach":[181],"autonomous":[187],"driving":[188]},"counts_by_year":[],"updated_date":"2026-07-01T06:00:48.157686","created_date":"2026-04-16T00:00:00"}
