{"id":"https://openalex.org/W7161678996","doi":"https://doi.org/10.48550/arxiv.2605.17950","title":"Active Defense Against False Data Injection Attacks in Robotic Manipulators","display_name":"Active Defense Against False Data Injection Attacks in Robotic Manipulators","publication_year":2026,"publication_date":"2026-05-18","ids":{"openalex":"https://openalex.org/W7161678996","doi":"https://doi.org/10.48550/arxiv.2605.17950"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2605.17950","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.17950","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.2605.17950","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5081806162","display_name":"Gabriele Gualandi","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Gualandi, Gabriele","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5069777203","display_name":"Carl Mikael Larsson","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Larsson, Carl Mikael","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5129689485","display_name":"Alessandro V. Papadopoulos","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Papadopoulos, Alessandro V.","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/T10917","display_name":"Smart Grid Security and Resilience","score":0.9330999851226807,"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":0.9330999851226807,"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":0.0348999984562397,"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/T11424","display_name":"Security and Verification in Computing","score":0.0066999997943639755,"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/task","display_name":"Task (project management)","score":0.6233999729156494},{"id":"https://openalex.org/keywords/resilience","display_name":"Resilience (materials science)","score":0.5888000130653381},{"id":"https://openalex.org/keywords/probabilistic-logic","display_name":"Probabilistic logic","score":0.569100022315979},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5616999864578247},{"id":"https://openalex.org/keywords/robot-manipulator","display_name":"Robot manipulator","score":0.49950000643730164},{"id":"https://openalex.org/keywords/manipulator","display_name":"Manipulator (device)","score":0.43380001187324524},{"id":"https://openalex.org/keywords/integrator","display_name":"Integrator","score":0.40369999408721924},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.39089998602867126}],"concepts":[{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6233999729156494},{"id":"https://openalex.org/C2779585090","wikidata":"https://www.wikidata.org/wiki/Q3457762","display_name":"Resilience (materials science)","level":2,"score":0.5888000130653381},{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.569100022315979},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5616999864578247},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5406000018119812},{"id":"https://openalex.org/C2985527887","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Robot manipulator","level":3,"score":0.49950000643730164},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4368000030517578},{"id":"https://openalex.org/C2781347998","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Manipulator (device)","level":3,"score":0.43380001187324524},{"id":"https://openalex.org/C79518650","wikidata":"https://www.wikidata.org/wiki/Q2081431","display_name":"Integrator","level":3,"score":0.40369999408721924},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3928999900817871},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.39089998602867126},{"id":"https://openalex.org/C11210021","wikidata":"https://www.wikidata.org/wiki/Q1520713","display_name":"Linearization","level":3,"score":0.38670000433921814},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.3783999979496002},{"id":"https://openalex.org/C85736874","wikidata":"https://www.wikidata.org/wiki/Q672139","display_name":"Feedback linearization","level":3,"score":0.3528999984264374},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3089999854564667},{"id":"https://openalex.org/C196467688","wikidata":"https://www.wikidata.org/wiki/Q1851985","display_name":"Telerobotics","level":4,"score":0.3043999969959259},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.3012999892234802},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.28600001335144043},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.28040000796318054},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.26969999074935913},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.26589998602867126},{"id":"https://openalex.org/C145424490","wikidata":"https://www.wikidata.org/wiki/Q618465","display_name":"Remotely operated underwater vehicle","level":4,"score":0.25859999656677246}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2605.17950","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.17950","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.2605.17950","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.17950","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":0.7849958539009094,"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Robotic":[0],"systems":[1,23],"are":[2],"vulnerable":[3],"to":[4,15,24,30,91],"False":[5],"Data":[6],"Injection":[7],"Attacks":[8],"(FDIAs),":[9],"where":[10],"adversaries":[11],"corrupt":[12],"sensor":[13],"signals":[14],"gain":[16],"malicious":[17],"control.":[18],"Feedback":[19],"linearization":[20],"exposes":[21],"robotic":[22],"integrator":[25],"vulnerability,":[26],"making":[27],"them":[28],"susceptible":[29],"stealthy":[31],"attacks":[32],"that":[33,80],"can":[34],"cause":[35],"significant":[36],"deviations":[37],"in":[38,105],"end-effector":[39],"behavior":[40],"without":[41],"raising":[42],"alarms.":[43],"This":[44],"paper":[45],"addresses":[46],"the":[47,81,86,98,106],"resilience":[48],"of":[49,88,108],"manipulators":[50],"against":[51],"finite-horizon":[52],"FDIAs":[53],"by":[54],"formalizing":[55],"two":[56],"defense":[57],"methods,":[58],"namely":[59],"anomaly-aware":[60],"virtual":[61],"damping":[62],"and":[63],"manipulability":[64],"reduction,":[65],"with":[66],"probabilistic":[67],"guarantees":[68],"on":[69,74],"nominal":[70,102],"task":[71,103],"execution.":[72],"Simulations":[73],"a":[75,94],"7-DOF":[76],"redundant":[77],"manipulator":[78],"show":[79],"proposed":[82],"defenses":[83],"substantially":[84],"reduce":[85],"impact":[87],"FDIA":[89],"compared":[90],"using":[92],"solely":[93],"threshold-based":[95],"ADS":[96],"like":[97],"Chi-squared,":[99],"while":[100],"preserving":[101],"performance":[104],"absence":[107],"attack.":[109]},"counts_by_year":[],"updated_date":"2026-07-01T06:00:48.157686","created_date":"2026-05-20T00:00:00"}