A secure safety filter combines secure state reconstruction under bounded noise with a robust control barrier function QP, and tests on a quadrotor show it can keep the drone safe when one sensor stream is spoofed.
Walnut: Waging doubt on the integrity of mems accelerometers with acoustic injection attacks,
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Secure Safety Filter: Towards Safe Flight Control under Sensor Attacks
A secure safety filter combines secure state reconstruction under bounded noise with a robust control barrier function QP, and tests on a quadrotor show it can keep the drone safe when one sensor stream is spoofed.