Scholars@Duke
Miroslav Pajic

Miroslav Pajic

Professor in the Department of Electrical and Computer Engineering
Pierre R. Lamond Department of Electrical and Computer Engineering

Scholarly Works - Conferences

Demo: Control the ARmada: LMM Coordination for Multi-Robot AR-HRC

Conference Hotmobile 2026 Proceedings of the 2026 ACM 27th International Workshop on Mobile Computing Systems and Applications · March 2, 2026 Augmented reality (AR) has shown strong potential to enable more flexible interaction in human-robot collaboration (HRC) by conveying a robot’s state and intent [1, 3] and enabling intuitive control [1]. However, while many systems exist that demonstrate A ... Full text Cite

Security-Aware Sensor Fusion with MATE: the Multi-Agent Trust Estimator

Conference Ccs 2025 Proceedings of the 2025 ACM Sigsac Conference on Computer and Communications Security · November 22, 2025 Sensor fusion in multi-agent systems, including smart cities, often lacks security awareness and is vulnerable to attacks. We propose a security-aware sensor fusion framework that estimates and incorporates probabilistic trust with uncertainty to defend ag ... Full text Cite

NeuroStrata: Harnessing Neurosymbolic Paradigms for Improved Design, Testability, and Verifiability of Autonomous CPS

Conference Proceedings of the ACM SIGSOFT Symposium on the Foundations of Software Engineering · July 28, 2025 Autonomous cyber-physical systems (CPSs) leverage AI for perception, planning, and control but face trust and safety certification challenges due to inherent uncertainties. The neurosymbolic paradigm replaces stochastic layers with interpretable symbolic A ... Full text Cite

Trust-Based Assured Sensor Fusion in Distributed Aerial Autonomy

Conference Proceedings of the ACM IEEE 16th International Conference on Cyber Physical Systems Iccps 2025 Held as Part of the Cps Iot Week 2025 · May 7, 2025 Multi-agent collaboration enhances situational awareness in intelligence, surveillance, and reconnaissance (ISR) missions. Ad hoc networks of unmanned aerial vehicles (UAVs) allow for real-time data sharing, but they face security challenges due to their d ... Full text Cite

Variational Adversarial Training Towards Policies with Improved Robustness

Conference Proceedings of Machine Learning Research · January 1, 2025 Reinforcement learning (RL), while being the benchmark for policy formulation, often struggles to deliver robust solutions across varying scenarios, leading to marked performance drops under environmental perturbations. Traditional adversarial training, ba ... Cite

Safe Cooperative Multi-Agent Reinforcement Learning with Function Approximation

Conference Proceedings of Machine Learning Research · January 1, 2025 Cooperative multi-agent reinforcement learning (MARL) has demonstrated significant promise in dynamic control environments, where effective communication and tailored exploration strategies facilitate collaboration. However, ensuring safe exploration remai ... Cite

Neuro-Symbolic Deadlock Resolution in Multi-Robot Systems

Conference Proceedings of Machine Learning Research · January 1, 2025 This work addresses the problem of deadlock situations that are common in decentralized multirobot missions. Existing approaches focus on predicting potential deadlocks and intervening before they actually occur. However, these methods often struggle to de ... Cite

Efficient Neuro-Symbolic Policy using In-Memory Computing

Conference Proceedings of Machine Learning Research · January 1, 2025 As artificial intelligence (AI) systems grow in complexity, achieving computationally efficient and interpretable decision-making is crucial. Neuro-Symbolic AI (NeSy) offers a promising framework by integrating symbolic representation with neural learning, ... Cite

Assured Autonomy with Neuro-Symbolic Perception

Conference Proceedings of Machine Learning Research · January 1, 2025 Many state-of-the-art AI models deployed in cyber-physical systems (CPS), while highly accurate, are simply pattern-matchers. With limited security guarantees, there are concerns for their reliability in safety-critical and contested domains. To advance as ... Cite

Concept of a Reconfigurable CNC Machine with Distributed Control

Conference Mechanisms and Machine Science · January 1, 2025 The emergence of Industry 4.0 has changed manufacturing by integrating advanced digital technologies, enabling extensive real-time interconnection between information technologies and operational technologies within Industrial Control Systems. This ubiquit ... Full text Cite

RaGNNarok: A Light-Weight Graph Neural Network for Enhancing Radar Point Clouds on Unmanned Ground Vehicles

Conference IEEE International Conference on Intelligent Robots and Systems · January 1, 2025 Current lidar and camera-based solutions for low-cost indoor mobile robots have limitations such as poor performance in visually obscured environments, high computational overhead for data processing, and high costs for lidars. In contrast, mmWave radar se ... Full text Cite

RadCloud: Real-Time High-Resolution Point Cloud Generation Using Low-Cost mmWave Radars for Aerial and Ground Vehicles

Conference ACM Mobicom 2024 Proceedings of the 30th International Conference on Mobile Computing and Networking · December 4, 2024 We demonstrate RadCloud, a real-time framework for obtaining high-resolution lidar-like 2D point clouds from low-resolution millimeter-wave (mmWave) radar data on resource-constrained platforms commonly found on unmanned aerial and ground vehicles (UAVs an ... Full text Cite

ϵ-Neural Thompson Sampling of Deep Brain Stimulation for Parkinson Disease Treatment

Conference Proceedings 15th ACM IEEE International Conference on Cyber Physical Systems Iccps 2024 · January 1, 2024 Deep Brain Stimulation (DBS) stands as an effective intervention for alleviating the motor symptoms of Parkinson's disease (PD). Traditional commercial DBS devices are only able to deliver fixed-frequency periodic pulses to the basal ganglia (BG) regions o ... Full text Cite

ON TRAJECTORY AUGMENTATIONS FOR OFF-POLICY EVALUATION

Conference 12th International Conference on Learning Representations Iclr 2024 · January 1, 2024 In the realm of reinforcement learning (RL), off-policy evaluation (OPE) holds a pivotal position, especially in high-stake human-centric scenarios such as e-learning and healthcare. Applying OPE to these domains is often challenging with scarce and underr ... Cite

RadCloud: Real-Time High-Resolution Point Cloud Generation Using Low-Cost Radars for Aerial and Ground Vehicles

Conference Proceedings IEEE International Conference on Robotics and Automation · January 1, 2024 In this work, we present RadCloud, a novel real-time framework for directly obtaining higher-resolution lidar-like 2D point clouds from low-resolution radar frames on resource-constrained platforms commonly used in unmanned aerial and ground vehicles (UAVs ... Full text Cite

REFORMA: Robust REinFORceMent Learning via Adaptive Adversary for Drones Flying under Disturbances

Conference Proceedings IEEE International Conference on Robotics and Automation · January 1, 2024 In this work, we introduce REFORMA, a novel robust reinforcement learning (RL) approach to design controllers for unmanned aerial vehicles (UAVs) robust to unknown disturbances during flights. These disturbances, typically due to wind turbulence, electroma ... Full text Cite

Robust Exploration with Adversary via Langevin Monte Carlo

Conference Proceedings of Machine Learning Research · January 1, 2024 In the realm of Deep Q-Networks (DQNs), numerous exploration strategies have demonstrated efficacy within controlled environments. However, these methods encounter formidable challenges when confronted with the unpredictability of real-world scenarios mark ... Cite

On the Uniqueness of Solution for the Bellman Equation of LTL Objectives

Conference Proceedings of Machine Learning Research · January 1, 2024 Surrogate rewards for linear temporal logic (LTL) objectives are commonly utilized in planning problems for LTL objectives. In a widely-adopted surrogate reward approach, two discount factors are used to ensure that the expected return approximates the sat ... Cite

Steering Decision Transformers via Temporal Difference Learning

Conference IEEE International Conference on Intelligent Robots and Systems · January 1, 2024 Decision Transformers (DTs) have been highly effective for offline reinforcement learning (RL) tasks, successfully modeling the sequences of actions in a given set of demonstrations. However, DTs may perform poorly in stochastic environments, which are pre ... Full text Cite

Black-box Stealthy GPS Attacks on Unmanned Aerial Vehicles

Conference Proceedings of the IEEE Conference on Decision and Control · January 1, 2024 This work focuses on analyzing the vulnerability of unmanned aerial vehicles (UAVs) to stealthy black-box false data injection attacks on GPS measurements. We assume that the quadcopter is equipped with IMU and GPS sensors, and an arbitrary sensor fusion a ... Full text Cite

Bayesian Methods for Trust in Collaborative Multi-Agent Autonomy

Conference Proceedings of the IEEE Conference on Decision and Control · January 1, 2024 Multi-agent, collaborative sensor fusion is a vital component of a multi-national intelligence toolkit. In safety-critical and/or contested environments, adversaries may infiltrate and compromise a number of agents. We analyze state of the art multi-target ... Full text Cite

Randomized Exploration in Cooperative Multi-Agent Reinforcement Learning

Conference Advances in Neural Information Processing Systems · January 1, 2024 We present the first study on provably efficient randomized exploration in cooperative multi-agent reinforcement learning (MARL). We propose a unified algorithm framework for randomized exploration in parallel Markov Decision Processes (MDPs), and two Thom ... Cite

Off-Policy Selection for Initiating Human-Centric Experimental Design

Conference Advances in Neural Information Processing Systems · January 1, 2024 In human-centric tasks such as healthcare and education, the heterogeneity among patients and students necessitates personalized treatments and instructional interventions. While reinforcement learning (RL) has been utilized in those tasks, off-policy sele ... Cite

Rigorous Evaluation of Computer Processors with Statistical Model Checking

Conference Proceedings of the 56th Annual IEEE ACM International Symposium on Microarchitecture Micro 2023 · October 28, 2023 Experiments with computer processors must account for the inherent variability in executions. Prior work has shown that real systems exhibit variability, and random effects must be injected into simulators to account for it. Thus, we can run multiple execu ... Full text Cite

Demo Abstract: Edge-based Augmented Reality Guidance System for Retinal Laser Therapy via Feature Matching

Conference IPSN 2023 Proceedings of the 2023 22nd International Conference on Information Processing in Sensor Networks · May 9, 2023 In ophthalmology, retinal laser therapy is a treatment for retinopathy that requires the use of magnifying lens to treat damaged regions of retinal landmarks, hence creating challenges of inverted magnified images and requiring prolonged training. Augmente ... Full text Cite

AVstack: An Open-Source, Reconfigurable Platform for Autonomous Vehicle Development

Conference Iccps 2023 Proceedings of the 2023 ACM IEEE 14th International Conference on Cyber Physical Systems with Cps Iot Week 2023 · May 9, 2023 Pioneers of autonomous vehicles (AVs) promised to revolutionize the driving experience and driving safety. However, milestones in AVs have materialized slower than forecast. Culprits include (1) the lack of verifiability of proposed state-of-the-art AV com ... Full text Cite

Modular Platform For Collaborative, Distributed Sensor Fusion

Conference Iccps 2023 Proceedings of the 2023 ACM IEEE 14th International Conference on Cyber Physical Systems with Cps Iot Week 2023 · May 9, 2023 Leading autonomous vehicle (AV) platforms and testing infrastructures are, unfortunately, proprietary and closed-source. Thus, it is difficult to evaluate how well safety-critical AVs perform and how safe they truly are. Similarly, few platforms exist for ... Full text Cite

Demo Abstract: Through an AR Lens: Augmented Reality Magnification through Feature Detection and Matching

Conference Sensys 2022 Proceedings of the 20th ACM Conference on Embedded Networked Sensor Systems · January 24, 2023 Sensing and Augmented Reality (AR) can benefit a wide range of applications that involve the use of magnifying lenses. Recent developments in AR magnification provide a direct overlay of the magnified scenes in AR. However, instrumentation tasks that requi ... Full text Cite

Stealthy Perception-based Attacks on Unmanned Aerial Vehicles

Conference Proceedings IEEE International Conference on Robotics and Automation · January 1, 2023 In this work, we study vulnerability of unmanned aerial vehicles (UAVs) to stealthy attacks on perception-based control. To guide our analysis, we consider two specific missions: (i) ground vehicle tracking (GVT), and (ii) vertical take-off and landing (VT ... Full text Cite

Transportation-Inequalities, Lyapunov Stability and Sampling for Dynamical Systems on Continuous State Space

Conference Proceedings of Machine Learning Research · January 1, 2023 We study the concentration phenomenon for discrete-time random dynamical systems with an unbounded state space. We develop a heuristic approach towards obtaining exponential concentration inequalities for dynamical systems using an entirely functional anal ... Cite

Lightweight Verification of Hyperproperties

Conference Lecture Notes in Computer Science Including Subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics · January 1, 2023 Hyperproperties have been widely used to express system properties like noninterference, observational determinism, conformance, robustness, etc. However, the model checking problem for hyperproperties is challenging due to its inherent complexity of verif ... Full text Cite

Cyber-Attacks on Wheeled Mobile Robotic Systems with Visual Servoing Control

Conference IEEE International Conference on Intelligent Robots and Systems · January 1, 2023 Visual servoing represents a control strategy capable of driving dynamical systems from the current to the desired pose, when the only available information is the images generated at both poses. In this work, we analyze vulnerability of such systems and i ... Full text Cite

Off-Policy Evaluation for Human Feedback

Conference Advances in Neural Information Processing Systems · January 1, 2023 Off-policy evaluation (OPE) is important for closing the gap between offline training and evaluation of reinforcement learning (RL), by estimating performance and/or rank of target (evaluation) policies using offline trajectories only. It can improve the s ... Cite

VARIATIONAL LATENT BRANCHING MODEL FOR OFF-POLICY EVALUATION

Conference 11th International Conference on Learning Representations Iclr 2023 · January 1, 2023 Model-based methods have recently shown great potential for off-policy evaluation (OPE); offline trajectories induced by behavioral policies are fitted to transitions of Markov decision processes (MDPs), which are used to rollout simulated trajectories and ... Cite

Gradient Importance Learning for Incomplete Observations.

Conference Int Conf Learn Represent · April 2022 Though recent works have developed methods that can generate estimates (or imputations) of the missing entries in a dataset to facilitate downstream analysis, most depend on assumptions that may not align with real-world applications and could suffer from ... Link to item Cite

Adaptive Droplet Routing for MEDA Biochips via Deep Reinforcement Learning

Conference Proceedings of the 2022 Design Automation and Test in Europe Conference and Exhibition Date 2022 · January 1, 2022 Digital microfluidic biochips (DMFBs) based on a micro-electrode-dot-array (MEDA) architecture provide fine-grained control and sensing of droplets in real-time. However, excessive actuation of microelectrodes in MEDA biochips can lead to charge trapping d ... Full text Cite

Offline Policy Evaluation for Learning-based Deep Brain Stimulation Controllers

Conference Proceedings 13th ACM IEEE International Conference on Cyber Physical Systems Iccps 2022 · January 1, 2022 Deep brain stimulation (DBS) is an effective procedure to treat motor symptoms caused by nervous system disorders such as Parkinson's disease (PD). Although existing implantable DBS devices can suppress PD symptoms by delivering fixed periodic stimuli to t ... Full text Cite

A Reinforcement Learning-Informed Pattern Mining Framework for Multivariate Time Series Classification

Conference Ijcai International Joint Conference on Artificial Intelligence · January 1, 2022 Multivariate time series (MTS) classification is a challenging and important task in various domains and real-world applications. Much of prior work on MTS can be roughly divided into neural network (NN)- and pattern-based methods. The former can lead to r ... Full text Cite

Learning Monotone Dynamics by Neural Networks

Conference Proceedings of the American Control Conference · January 1, 2022 Feed-forward neural networks (FNNs) work as standard building blocks in applying artificial intelligence (AI) to the physical world. They allow learning the dynamics of unknown physical systems (e.g., biological and chemical) to predict their future behavi ... Full text Cite

Insights on Using Deep Learning to Spoof Inertial Measurement Units for Stealthy Attacks on UAVs

Conference Proceedings IEEE Military Communications Conference MILCOM · January 1, 2022 Unmanned Aerial Vehicles (UAVs) find increasing use in mission critical tasks both in civilian and military operations. Most UAVs rely on Inertial Measurement Units (IMUs) to calculate vehicle attitude and track vehicle position. Therefore, an incorrect IM ... Full text Cite

Optimal Myopic Attacks on Nonlinear Estimation

Conference Proceedings of the IEEE Conference on Decision and Control · January 1, 2022 Prior works have analyzed the security of estimation and control (E&C) for linear, time-invariant systems; however, there are few analyses of nonlinear systems despite their broad safety-critical use. We define two attack objectives on nonlinear E&C and il ... Full text Cite

Resiliency of Nonlinear Control Systems to Stealthy Sensor Attacks

Conference Proceedings of the IEEE Conference on Decision and Control · January 1, 2022 In this work, we focus on analyzing vulnerability of nonlinear dynamical control systems to stealthy sensor attacks. We define the notion of stealthy attacks in the most general form by leveraging Neyman-Pearson lemma. Specifically, an attack is considered ... Full text Cite

Resiliency of Perception-Based Controllers Against Attacks

Conference Proceedings of Machine Learning Research · January 1, 2022 This work focuses on resiliency of learning-enabled perception-based controllers for nonlinear dynamical systems. We consider systems equipped with an end-to-end controller, mapping the perception (e.g., camera images) and sensor measurements to control in ... Cite

Foreword to the MCPS 2021 Proceedings Message from the Chairs

Conference Mcps 2021 Proceedings of the 2021 Medical Cyber Physical Systems and Internet of Medical Things · May 18, 2021 Cite

Formal Synthesis of Adaptive Droplet Routing for MEDA Biochips

Conference Proceedings Design Automation and Test in Europe Date · February 1, 2021 A digital microfluidic biochip (DMFB) enables the miniaturization of immunoassays, point-of-care clinical diagnostics, and DNA sequencing. A recent generation of DMFBs uses a micro-electrode-dot-array (MEDA) architecture, which provides fine-grained contro ... Full text Cite

Statistical Model Checking for Hyperproperties

Conference Proceedings IEEE Computer Security Foundations Symposium · January 1, 2021 Hyperproperties have shown to be a powerful tool for expressing and reasoning about information-flow security policies. In this paper, we investigate the problem of statistical model checking (SMC) for hyperproperties. Unlike exhaustive model checking, SMC ... Full text Cite

AI-Powered IoT System at the Edge

Conference Proceedings 2021 IEEE 3rd International Conference on Cognitive Machine Intelligence Cogmi 2021 · January 1, 2021 The proliferation of low-cost and low-power IoT devices are constantly generating gigabytes data at the network edge. Bridging AI with IoT is a natural option to unleash the data on devices. AI-powered IoT systems can boost many novel applications and serv ... Full text Cite

Perfect Attackability of Linear Dynamical Systems with Bounded Noise

Conference Proceedings of the American Control Conference · July 1, 2020 This paper addresses the problem of secure state estimation in the presence of attacks on sensor measurements of a linear time invariant (LTI) system. We assume that the system is equipped with a common l0-based attack-resilient state estimator ... Full text Cite

Deep Imitative Reinforcement Learning for Temporal Logic Robot Motion Planning with Noisy Semantic Observations

Conference Proceedings IEEE International Conference on Robotics and Automation · May 1, 2020 In this paper, we propose a Deep Imitative Q-learning (DIQL) method to synthesize control policies for mobile robots that need to satisfy Linear Temporal Logic (LTL) specifications using noisy semantic observations of their surroundings. The robot sensing ... Full text Cite

Statistical verification of learning-based cyber-physical systems

Conference Hscc 2020 Proceedings of the 23rd International Conference on Hybrid Systems Computation and Control Part of Cps Iot Week · April 22, 2020 The use of Neural Network (NN)-based controllers has attracted significant attention in recent years. Yet, due to the complexity and non-linearity of such NN-based cyber-physical systems (CPS), existing verification techniques that employ exhaustive state- ... Full text Cite

Model-based design of closed loop deep brain stimulation controller using reinforcement learning

Conference Proceedings 2020 ACM IEEE 11th International Conference on Cyber Physical Systems Iccps 2020 · April 1, 2020 Parkinson's disease (PD) currently Influences around one million people in the US. Deep brain stimulation (DBS) is a surgical treatment for the motor symptoms of PD that delivers electrical stimulation to the basal ganglia (BG) region of the brain. Existin ... Full text Cite

Attack-Resilient Supervisory Control with Intermittently Secure Communication

Conference Proceedings of the IEEE Conference on Decision and Control · December 1, 2019 In this work, we study supervisory control of discrete event systems in the presence of network-based attacks on information delivered to and from the supervisors. The attacks are modeled by finite state transducers (FSTs), having the ability to nondetermi ... Full text Cite

Supervisory Control of Discrete Event Systems in the Presence of Sensor and Actuator Attacks

Conference Proceedings of the IEEE Conference on Decision and Control · December 1, 2019 This work focuses on control of discrete event systems (DES) in the presence of attacks on their inputs and outputs. We propose to model such attacks as nondeterministic finite state transducers (FSTs) and show how FSTs can be used to capture a very wide c ... Full text Cite

Detection of cyber-attacks in electro-pneumatic positioning system with distributed control

Conference 27th Telecommunications Forum Telfor 2019 · November 1, 2019 Concept of Industry 4.0 and implementation of Cyber Physical Systems (CPS) and Internet of Things (IoT) in industrial plants are changing the way we manufacture. Introduction of industrial IoT leads to ubiquitous communication (usually wireless) between de ... Full text Cite

Statistical verification of hyperproperties for cyber-physical systems

Conference ACM Transactions on Embedded Computing Systems · October 1, 2019 Many important properties of cyber-physical systems (CPS) are defined upon the relationship between multiple executions simultaneously in continuous time. Examples include probabilistic fairness and sensitivity to modeling errors (i.e., parameters changes) ... Full text Cite

Synchronization of Distributed Controllers in Cyber-Physical Systems

Conference IEEE International Conference on Emerging Technologies and Factory Automation ETFA · September 1, 2019 Due to misaligned clock sources, distributed control in Cyber-Physical Systems (CPS) requires not only synchronous execution of control algorithms on distributed system components, which we refer to as cyber-synchronization, but also appropriate generation ... Full text Cite

Security-aware synthesis of human-UAV protocols

Conference Proceedings IEEE International Conference on Robotics and Automation · May 1, 2019 In this work, we synthesize collaboration protocols for human-unmanned aerial vehicle (H-UAV) command and control systems, where the human operator aids in securing the UAV by intermittently performing geolocation tasks to confirm its reported location. We ... Full text Cite

Message from the general and program committee co-chairs

Conference Iccps 2019 Proceedings of the 2019 ACM IEEE International Conference on Cyber Physical Systems · April 16, 2019 Cite

Reliable industrial IoT-based distributed automation

Conference Iotdi 2019 Proceedings of the 2019 Internet of Things Design and Implementation · April 15, 2019 Reconfigurable manufacturing systems supported by Industrial Internet-of-Things (IIoT) are modular and easily integrable, promoting efficient system/component reconfigurations with minimal downtime. Industrial systems are commonly based on sequential contr ... Full text Cite

LCV: A verification tool for linear controller software

Conference Lecture Notes in Computer Science Including Subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics · January 1, 2019 In the model-based development of controller software, the use of an unverified code generator/transformer may result in introducing unintended bugs in the controller implementation. To assure the correctness of the controller software in the absence of ve ... Full text Cite

Security-Aware Synthesis Using Delayed-Action Games

Conference Lecture Notes in Computer Science Including Subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics · January 1, 2019 Stochastic multiplayer games (SMGs) have gained attention in the field of strategy synthesis for multi-agent reactive systems. However, standard SMGs are limited to modeling systems where all agents have full knowledge of the state of the game. In this pap ... Full text Cite

Platform for Model-Based Design and Testing for Deep Brain Stimulation

Conference Proceedings 9th ACM IEEE International Conference on Cyber Physical Systems Iccps 2018 · August 21, 2018 Deep Brain Stimulation (DBS) is effective at alleviating symptoms of neurological disorders such as Parkinson's disease. Yet, despite its safety-critical nature, there does not exist a platform for integrated design and testing of new algorithms or devices ... Full text Cite

Learning-Based Control Design for Deep Brain Stimulation

Conference Proceedings 9th ACM IEEE International Conference on Cyber Physical Systems Iccps 2018 · August 21, 2018 By employing low-voltage electrical stimulation of the basal ganglia (BG) regions of the brain, deep brain stimulation (DBS) devices are used to alleviate the symptoms of several neurological disorders, including Parkinson's disease (PD). Recently, we have ... Full text Cite

Secure State Estimation with Cumulative Message Authentication

Conference Proceedings of the IEEE Conference on Decision and Control · July 2, 2018 With network-based attacks, such as Man-in-the-Middle (MitM) attacks, the attacker can inject false data to force a closed-loop system into any undesired state, unless even intermittently integrity of delivered sensor measurements is enforced. Yet, the use ... Full text Cite

Human augmentation of UAV cyber-attack detection

Conference Lecture Notes in Computer Science Including Subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics · January 1, 2018 Unmanned aerial vehicles (UAVs) have extensive applications in both civilian and military applications. Nevertheless, the continued development of UAVs has been accompanied by security concerns. UAV navigation systems are potentially vulnerable to maliciou ... Full text Cite

Opportunities and challenges in monitoring cyber-physical systems security

Conference Lecture Notes in Computer Science Including Subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics · January 1, 2018 Technological advances in distributed cyber-physical systems (CPS) will fundamentally alter the way present and future human societies lead their lives. From a security or privacy perspective, a (multi-agent) cyber-physical system is a network of sensors, ... Full text Cite

Security-aware scheduling of embedded control tasks

Conference ACM Transactions on Embedded Computing Systems · September 1, 2017 In this work, we focus on securing cyber-physical systems (CPS) in the presence of network-based attacks, such as Man-in-the-Middle (MitM) attacks, where a stealthy attacker is able to compromise communication between system sensors and controllers. Standa ... Full text Cite

Synthesis of error-recovery protocols for micro-electrode-dot-array digital microfluidic biochips

Conference ACM Transactions on Embedded Computing Systems · September 1, 2017 A digital microfluidic biochip (DMFB) is an attractive technology platform for various biomedical applications. However, a conventional DMFB is limited by: (i) the number of electrical connections that can be practically realized, (ii) constraints on dropl ... Full text Cite

Network Scheduling for Secure Cyber-Physical Systems

Conference Proceedings Real Time Systems Symposium · July 2, 2017 Existing design techniques for providing security guarantees against network-based attacks in cyber-physical systems (CPS) are based on continuous use of standard cryptographic tools to ensure data integrity. This creates an apparent conflict with common r ... Full text Cite

Sporadic data integrity for secure state estimation

Conference 2017 IEEE 56th Annual Conference on Decision and Control Cdc 2017 · June 28, 2017 We consider the problem of network-based attacks, such as Man-in-the-Middle attacks, on standard state estimators. To ensure graceful control degradation in the presence of attacks, existing results impose very strict integrity requirements on the number o ... Full text Cite

WiP abstract: Platform for security-aware design of human-on-the-loop cyber-physical systems

Conference Proceedings 2017 ACM IEEE 8th International Conference on Cyber Physical Systems Iccps 2017 Part of Cps Week · April 18, 2017 Cyber-Physical Systems (CPS) are commonly supervisory control systems where a human-on-the-loop (HOL) supervises one or more autonomous systems, while embedded autonomy allows the operators to intermittently attend to the system and other tasks. Thus, it i ... Full text Cite

Transient performance & availability modeling in high volume outpatient clinics

Conference Proceedings Annual Reliability and Maintainability Symposium · March 29, 2017 High volume outpatient clinics such as eye care centers cannot afford excessive delays, especially when due to limited resources, time, or overhead. Modeling tools from reliability & maintainability practice may provide the means to better assess where imp ... Full text Cite

Automatic verification of finite precision implementations of linear controllers

Conference Lecture Notes in Computer Science Including Subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics · January 1, 2017 We consider the problem of verifying finite precision implementation of linear time-invariant controllers against mathematical specifications. A specification may have multiple correct implementations which are different from each other in controller state ... Full text Cite

Making the Internet-of-Things a reality: From smart models, sensing and actuation to energy-efficient architectures

Conference 2016 International Conference on Hardware Software Codesign and System Synthesis Codes Isss 2016 · November 21, 2016 Advances in the physical sciences and engineering enable the development of internet-of-things (IoT) to understand, interface / interact and engineer physical world (systems). However, the deployment of multitude of wireless sensors and agents spanning man ... Full text Cite

Error recovery in a micro-electrode-dot-array digital microfluidic biochip?

Conference IEEE ACM International Conference on Computer Aided Design Digest of Technical Papers Iccad · November 7, 2016 A digital microfluidic biochip (DMFB) is an attractive technology platform for automating laboratory procedures in biochemistry. However, today's DMFBs suffer from several limitations: (i) constraints on droplet size and the inability to vary droplet volum ... Full text Cite

Towards Plug-n-Play numerical control for Reconfigurable Manufacturing Systems

Conference IEEE International Conference on Emerging Technologies and Factory Automation ETFA · November 3, 2016 Modern manufacturing systems require fast and effective adaptation to fluctuating market conditions and product diversification. This high level adaptability can be achieved through the utilization of Reconfigurable Manufacturing Systems (RMS), which shoul ... Full text Cite

A real-time digital-microfluidic platform for epigenetics

Conference Proceedings of the International Conference on Compilers Architectures and Synthesis for Embedded Systems Cases 2016 · October 1, 2016 Advances in digital-microfluidic biochips have led to miniaturized platforms that can implement biomolecular assays. However, these designs are not adequate for running multiple sample pathways because they consider unrealistic static schedules; hence runt ... Full text Cite

Estimation of Blood Oxygen Content Using Context-Aware Filtering

Conference 2016 ACM IEEE 7th International Conference on Cyber Physical Systems Iccps 2016 Proceedings · May 25, 2016 In this paper we address the problem of estimating the blood oxygen concentration in children during surgery. Currently, the oxygen content can only be measured through invasive means such as drawing blood from the patient. In this work, we attempt to perf ... Full text Cite

Three challenges in cyber-physical systems

Conference 2016 8th International Conference on Communication Systems and Networks Comsnets 2016 · March 23, 2016 The tight coupling of computation, communication and control with physical systems such as actuation of closed-loop medical devices within the human body, peak power minimization by coordination of controllers across large industrial plants, and fast life- ... Full text Cite

Scalable verification of linear controller software

Conference Lecture Notes in Computer Science Including Subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics · January 1, 2016 We consider the problem of verifying software implementations of linear time-invariant controllers against mathematical specifications. Given a controller specification, multiple correct implementations may exist, each of which uses a different representat ... Full text Cite

Automatic Verification of Linear Controller Software

Conference · October 4, 2015 Featured Publication We consider the problem of verification of software implementations of linear time-invariant controllers. Commonly, different implementations use different representations of the controller’s state, for example due to optimizations in a third-party code ge ... Full text Open Access Cite

Robust Estimation Using Context-Aware Filtering

Conference · September 1, 2015 Featured Publication This paper presents the context-aware filter, an estimation technique that incorporates context measurements, in addition to the regular continuous measurements. Context measurements provide binary information about the system's context which is not ... Open Access Cite

Attack-resilient state estimation in the presence of noise

Conference Proceedings of the IEEE Conference on Decision and Control · February 8, 2015 We consider the problem of attack-resilient state estimation in the presence of noise. We focus on the most general model for sensor attacks where any signal can be injected via the compromised sensors. An l0-based state estimator that can be formulated as ... Full text Cite

Design methodologies for securing cyber-physical systems.

Conference Proceedings of the 10th International Conference on Hardware/Software Codesign and System Synthesis (CODES+ISSS) · 2015 Featured Publication Full text Open Access Cite

Sensor attack detection in the presence of transient faults.

Conference Proceedings of the 6th ACM/IEEE International Conference on Cyber-Physical Systems (ICCPS) · 2015 Featured Publication Full text Cite

Attack-resilient minimum mean-squared error estimation

Conference American Control Conference (ACC), 2014 · June 2014 This work addresses the design of resilient estimators for stochastic systems. To this end, we introduce a minimum mean-squared error resilient (MMSE-R) estimator whose conditional mean squared error from the state remains finitely bounded and is independe ... Full text Cite

Robustness of attack-resilient state estimators

Conference Cyber-Physical Systems (ICCPS), 2014 ACM/IEEE International Conference on · April 2014 Featured Publication The interaction between information technology and phys ical world makes Cyber-Physical Systems (CPS) vulnerable to malicious attacks beyond the standard cyber attacks. This has motivated the need for attack-resilient state estimation. Yet, the existing st ... Full text Open Access Cite

Opportunistic scheduling of control tasks over shared wireless channels

Conference Cyber-Physical Systems (ICCPS), 2014 ACM/IEEE International Conference on · April 2014 Featured Publication We consider a wireless networked control system with multiple loops closing over a shared wireless medium. To avoid interferences a centralized scheduler decides which control task accesses the channel at each time step, opportunistically based on the rand ... Full text Cite

Attack-resilient sensor fusion

Conference Design, Automation and Test in Europe Conference and Exhibition (DATE), 2014 · March 2014 Featured Publication This work considers the problem of attack-resilient sensor fusion in an autonomous system where multiple sensors measure the same physical variable. A malicious attacker may corrupt a subset of these sensors and send wrong measurements to the controller on ... Full text Cite

Resilient Multidimensional Sensor Fusion Using Measurement History

Conference Proceedings of the 3rd International Conference on High Confidence Networked Systems · 2014 Full text Cite

Stabilizability over deterministic relay networks

Conference Decision and Control (CDC), 2013 IEEE 52nd Annual Conference on · December 2013 Featured Publication We consider the problem of linear system stabilization using a set of decentralized controllers that communicate with the plant’s sensors over a network that employs linear network coding. Our analysis is built upon an existing algebraic description of det ... Full text Cite

Power-aware communication for wireless sensor-actuator systems

Conference Decision and Control (CDC), 2013 IEEE 52nd Annual Conference on · December 2013 This paper considers the design of power-aware communication protocols for a sensor transmitting plant state measurements over a wireless Markov fading channel to a receiver/controller. Communication requires power consumption at transmission adapted to ch ... Full text Cite

Demo abstract: Synthesis of platform-aware attack-resilient vehicular systems

Conference 2013 ACM IEEE International Conference on Cyber Physical Systems Iccps 2013 · October 15, 2013 Full text Cite

Towards Synthesis of Platform-aware Attack-resilient Control Systems: Extended Abstract

Conference Proceedings of the 2Nd ACM International Conference on High Confidence Networked Systems · 2013 Full text Cite

Demo abstract: Model-based testing of implantable cardiac devices

Conference Proceedings 2012 IEEE ACM 3rd International Conference on Cyber Physical Systems Iccps 2012 · May 31, 2012 The heart is the most important natural realtime system and its interaction with an implantable artificial pacemaker make for a perfect example of a Cyber-Physical System. The increasing complexity in implantable cardiac device software has been responsibl ... Full text Cite

From Verification to Implementation: A Model Translation Tool and a Pacemaker Case Study

Conference Real-Time and Embedded Technology and Applications Symposium (RTAS), 2012 IEEE 18th · April 2012 Featured Publication Model-Driven Design (MDD) of cyber-physical systems advocates for design procedures that start with formal modeling of the real-time system, followed by the model’s verification at an early stage. The verified model must then be translated to a more detail ... Full text Cite

Closing the Loop: A Simple Distributed Method for Control over Wireless Networks

Conference Proceedings of the 11th International Conference on Information Processing in Sensor Networks · 2012 Featured Publication Full text Cite

Modeling and Verification of a Dual Chamber Implantable Pacemaker

Conference Proceedings of the 18th International Conference on Tools and Algorithms for the Construction and Analysis of Systems · 2012 Featured Publication Full text Cite

Network synthesis for dynamical system stabilization

Conference Signals, Systems and Computers (ASILOMAR), 2011 Conference Record of the Forty Fifth Asilomar Conference on · November 2011 We present our recent results in the area of distributed control over wireless networks. In our previous work, we introduced the concept of a Wireless Control Network (WCN), where the network acts as a decentralized structured controller. In this case the ... Full text Cite

Architecture for a fully distributed Wireless Control Network

Conference Proceedings of the 10th ACM IEEE International Conference on Information Processing in Sensor Networks IPSN 11 · June 23, 2011 We demonstrate a distributed scheme for control over wireless networks. In our previous work, we introduced the concept of a Wireless Control Network (WCN), where the network itself, with no centralized node, acts as the controller. In this demonstration, ... Cite

Demo abstract: Closed-loop testing for implantable cardiac pacemakers

Conference Proceedings of the 10th ACM/IEEE International Conference on Information Processing in Sensor Networks, IPSN'11 · June 23, 2011 The increasing complexity of software in implantable medical devices such as cardiac pacemakers and defibrillators accounts for over 40% of device recalls. Testing remains the principal means of verification in the medical device certification regime. Trad ... Cite

Model-Based Closed-Loop Testing of Implantable Pacemakers

Conference Cyber-Physical Systems (ICCPS), 2011 IEEE/ACM International Conference on · April 2011 The increasing complexity of software in implantable medical devices such as cardiac pacemakers and defibrillators accounts for over 40% of device recalls. Testing remains the principal means of verification in the medical device certification regime. Trad ... Full text Cite

Topological conditions for wireless control networks

Conference Proceedings of the IEEE Conference on Decision and Control · January 1, 2011 We study the problem of stabilizing a linear system over a wireless control network. We propose a scheme where each wireless node maintains a scalar state, and periodically updates it as a linear combination of neighboring plant outputs and node states. We ... Full text Cite

The Wireless Control Network: Synthesis and robustness

Conference Decision and Control (CDC), 2010 49th IEEE Conference on · December 2010 We consider the problem of stabilizing a plant with a network of resource constrained wireless nodes. Traditional networked control schemes are designed with one of the nodes in the network acting as a dedicated controller, while the other nodes simply rou ... Full text Cite

The wireless control network: Monitoring for malicious behavior

Conference Decision and Control (CDC), 2010 49th IEEE Conference on · December 2010 We consider the problem of stabilizing a plant with a network of resource constrained wireless nodes. In a companion paper, we developed a protocol where each node repeatedly transmits an appropriate (stabilizing) linear combination of the values in its ne ... Full text Cite

Demo abstract: A platform for implantable medical device validation

Conference Proceedings Wireless Health 2010 Wh 10 · December 1, 2010 We present the design of an integrated modeling platform to investigate efficient methodologies for certifying medical device software. The outcome of this research has the potential to expedite medical device software certification for safer operation. Ou ... Full text Cite

A platform for implantable medical device validation

Conference Proceedings of the 9th ACM IEEE International Conference on Information Processing in Sensor Networks IPSN 10 · July 16, 2010 Designing bug-free medical device software is difficult, especially in complex implantable devices that may be used in unanticipated contexts. In the 20-year period from 1985 to 2005, the US Food and Drug Administration's (FDA) Maude database records almos ... Full text Cite

Embedded Virtual Machines for Robust Wireless Control and Actuation

Conference Real-Time and Embedded Technology and Applications Symposium (RTAS), 2010 16th IEEE · April 2010 Embedded wireless networks have largely focused on open-loop sensing and monitoring. To address actuation in closed-loop wireless control systems there is a strong need to re-think the communication architectures and protocols for reliability, coordination ... Full text Cite

Demo abstract: Embedded virtual machines for wireless industrial automation

Conference 2009 International Conference on Information Processing in Sensor Networks IPSN 2009 · November 16, 2009 The factory of the future is the Wireless Factory - fully programmable, nimble and adaptive to planned mode changes and unplanned faults. Today automotive assembly lines loose over $22,000 per minute of downtime. The systems are rigid, difficult to maintai ... Cite

Embedded Virtual Machines for Robust Wireless Control Systems

Conference Distributed Computing Systems Workshops, 2009. ICDCS Workshops ’09. 29th IEEE International Conference on · June 2009 Embedded wireless networks have largely focused on open loop sensing and monitoring. To address actuation in closed loop wireless control systems there is a strong need to re-think the communication architectures and protocols for reliability, coordination ... Full text Cite

Anti-jamming for embedded wireless networks

Conference Information Processing in Sensor Networks, 2009. IPSN 2009. International Conference on · April 2009 Resilience to electromagnetic jamming and its avoidance are difficult problems. It is often both hard to distinguish malicious jamming from congestion in the broadcast regime and a challenge to conceal the activity patterns of the legitimate communication ... Cite

FPGA design of arbitrary down-sampler

Conference Microelectronics, 2008. MIEL 2008. 26th International Conference on · May 2008 This paper describes the FPGA design of an arbitrary down-sampler. The arbitrary down-sampler performs decimation of the input signal, adjusting its sample rate to the requirements on the system output. The solution presented in this paper introduces the d ... Full text Cite

Real-Time QRD-Based Beamforming on an FPGA Platform

Conference Signals, Systems and Computers, 2006. ACSSC ’06. Fortieth Asilomar Conference on · October 2006 This paper describes the architecture, design flow and verification process for the FPGA implementation of a realtime beamformer. One of the challenges in realizing this class of processing is in the implementation of the linear algebra operations required ... Full text Cite

Attack-Resilient State Estimation in the Presence of Noise

Conference Featured Publication We consider the problem of attack-resilient state estimation in the presence of noise. We focus on the most general model for sensor attacks where {any} signal can be injected via the compromised sensors. An $l_0$-based state estimator that can be formulat ... Open Access Cite