Nicola Bezzo

Nicola Bezzo
University of Virginia | UVa · Systems and Information Engineering/ Electrical and Computer engineering

About

75
Publications
4,517
Reads
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798
Citations
Additional affiliations
November 2012 - December 2015
University of Pennsylvania
Position
  • PostDoc Position

Publications

Publications (75)
Preprint
Full-text available
This paper presents a novel method for transferring motion planning and control policies between a teacher and a learner robot. With this work, we propose to reduce the sim-to-real gap, transfer knowledge designed for a specific system into a different robot, and compensate for system aging and failures. To solve this problem we introduce a Schwarz...
Preprint
Mobile robots are traditionally developed to be reactive and avoid collisions with surrounding humans, often moving in unnatural ways without following social protocols, forcing people to behave very differently from human-human interaction rules. Humans, on the other hand, are seamlessly able to understand why they may interfere with surrounding h...
Preprint
Due to changes in model dynamics or unexpected disturbances, an autonomous robotic system may experience unforeseen challenges during real-world operations which may affect its safety and intended behavior: in particular actuator and system failures and external disturbances are among the most common causes of degraded mode of operation. To deal wi...
Preprint
Full-text available
Stealthy false data injection attacks on cyber-physical systems (CPSs) introduce erroneous measurement information to on-board sensors with the purpose to degrade system performance. An intelligent attacker is able to leverage knowledge of the system model and noise characteristics to alter sensor measurements while remaining undetected. To achieve...
Preprint
Full-text available
A resilient multi-vehicle system cooperatively performs tasks by exchanging information, detecting and removing cyber-attacks that have the intent of hijacking or diminishing performance of the entire system. In this paper, we propose a framework to: i) detect and isolate misbehaving vehicles in the network, and ii) securely encrypt information amo...
Article
Navigation through an occluded environment is a challenging task for autonomous mobile robots (AMR), since they must balance both safety and speed in an attempt to fluidly steer around occlusions in uncertain environments. This is because real world environments have dynamic actors that may be occluded to the robot during motion, introducing uncert...
Article
Full-text available
Modern unmanned aerial vehicles (UAVs) rely on high-frequency periodic sensor measurements in order to safely operate in cluttered environments with both static and dynamic obstacles. However, periodic sensor checking operations are time and computation consuming and they are often not needed, especially in situations where the UAV can operate with...
Preprint
Stealthy false data injection attacks on cyber-physical systems introduce erroneous measurements onto sensors with the intent to degrade system performance. An intelligent attacker can design stealthy attacks with knowledge of the system model and noise characteristics to evade detection from state-of-the-art fault detectors by remaining within det...
Preprint
Full-text available
Malicious attacks on modern autonomous cyber-physical systems (CPSs) can leverage information about the system dynamics and noise characteristics to hide while hijacking the system toward undesired states. Given attacks attempting to hide within the system noise profile to remain undetected, an attacker with the intent to hijack a system will alter...
Article
Autonomous systems operating in uncertain environments under the effects of disturbances and noises can reach unsafe states even while using finetuned controllers and precise sensors and actuators. To provide safety guarantees on such systems during motion planning operations, reachability analysis (RA) has been demonstrated to be a powerful tool....
Article
Autonomous robots, especially aerial vehicles, when subject to disturbances, uncertainties, and noises may experience variations from their desired states and deviations from the planned trajectory which may lead them into an unsafe state (e.g., a collision). It is thus necessary to monitor their states at run-time when operating in uncertain and c...
Article
Stealthy false data injection attacks on cyber-physical systems introduce erroneous measurements onto sensors with the intent to degrade system performance. An intelligent attacker can design stealthy attacks with knowledge of the system model and noise characteristics to evade detection from state-of-the-art fault detectors by remaining within det...
Conference Paper
Micro Aerial Vehicles (MAVs) and in particular quadrotors have gained a lot of attention because of their small size, stable, robust, and diverse sensing capabilities that make them perfect test beds in several safety critical operations. Shrinking these vehicles is desirable since agility increases. However, it entails smaller power sources and he...
Article
The articles in this special section examine the impact of resiliency in cyber-physical systems (CPS). In living species, it is often the resilience of an organism that determines its long-term success and phylogenesis. In computing, cyber-physical systems are also only as good as their level of resilience. Modern cyber-physical systems (CPSs) feat...
Conference Paper
Modern unmanned aerial vehicles (UAVs) rely on periodic sensor measurements and replanning operations to navigate through cluttered and dynamic environments. However, periodic sensor checking and replanning are time and energy consuming and can be relaxed if the UAV can make accurate assessments about its current and future states and safely naviga...
Conference Paper
Modern unmanned aerial vehicles (UAVs) rely on constant periodic sensor measurements to help avoid obstacles, deal with system disturbances and correct uncertainties. However, constant checking is time and energy consuming and is often not necessary especially in situations in which the UAV can safely fly using open loop control without entering un...
Article
Recent years have witnessed a significant increase in the number of securityrelated incidents in control systems. These include high-profile attacks in a wide range of application domains, from attacks on critical infrastructure, as in the case of the Maroochy Water breach [1], and industrial systems (such as the StuxNet virus attack on an industri...
Article
Full-text available
Recent years have witnessed a significant increase in the number of security-related incidents in control systems. These include high-profile attacks in a wide range of application domains, from attacks on critical infrastructure, as in the case of the Maroochy Water breach [1], and industrial systems (such as the StuxNet virus attack on an industr...
Chapter
In this work, we have developed a design environment to allow casual users to quickly and easily create custom robots. A drag-and-drop graphical interface allows users to intuitively assemble electromechanical systems from a library of predesigned parametrized components. A script-based infrastructure encapsulates and automatically composes mechani...
Article
Robots are complex systems, and their design requires detailed knowledge of diverse fields, including mechanics, electronics, software, and control theory. Thus, our ability to rapidly create robotic systems requires a synergy between these diverse disciplines. In the near future, new paradigms and tools will be needed for on-demand design generati...
Book
Springer International Publishing Switzerland 2016. In this work, we have developed a design environment to allow casual users to quickly and easily create custom robots. A drag-and-drop graphical interface allows users to intuitively assemble electromechanical systems from a library of predesigned parametrized components. A script-based infrastruc...
Article
Full-text available
We address the problem of estimating the state of a differentially flat system from measurements that may be corrupted by an adversarial attack. In cyber-physical systems, malicious attacks can directly compromise the system's sensors or manipulate the communication between sensors and controllers. We consider attacks that only corrupt a subset of...
Article
In this paper we consider the problem of coordinating robotic systems with different kinematics, sensing and vision capabilities to achieve certain mission goals. An approach that makes use of a heterogeneous team of agents has several advantages when cost, integration of capabilities, or large search areas need to be considered. A heterogeneous te...
Conference Paper
Recent advances in design, fabrication, and programming technologies enable the rapid digital manufacturing of functional robotic systems. Novices can quickly fabricate mechanical frames thanks to 3D printers and cut-and-fold techniques and quickly program the control behavior of a robot using modern software environments. However, there is still n...
Article
Full-text available
The paper studies the problem of constructing assurance cases for embedded control systems developed using a model-based approach. Assurance cases aim to provide a convincing argument that the system delivers certain guarantees, based on the evidence obtained during the design and evaluation of the system. We suggest an argument strategy centered a...
Article
Full-text available
In this paper we present a methodology to control ground robots under malicious attack on sensors. Within the term attack we intend any malicious disturbance injection on sensors, actuators, and controller that would compromise the safety of a robot. In order to guarantee resilience against attacks, we use a control-level technique implemented with...
Article
Full-text available
We discuss the problem of high-assurance development of cyber-physical systems. Specifically, we concentrate on the interaction between the development of the control system layer and platform-specific software engineering for system components. We argue that an architecture-centric approach allows us to streamline the development and increase the...
Conference Paper
Full-text available
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 independent of additive measurement attacks. An implementation of the MMSE-R estimator is presented and...
Article
Full-text available
The emerging network-enabled medical devices impose new challenges for the safety assurance of medical cyber-physical systems (MCPS). In this paper, we present a case study of building a high-level safety argument for a patient-controlled analgesia (PCA) closed-loop system, with the purpose of exploring potential methodologies for assuring the safe...
Conference Paper
Full-text available
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 state-estimators are based on the non-realistic assumption that the exact system model is known....
Conference Paper
We propose a simplified high-level programming language based on blocks and links dragged on a workspace which generates the skeleton code for robotic applications involving different types of robots. In order to develop such a high-level programming language that still can guarantee flexibility in term of implementation, our approach takes advanta...
Article
This paper describes a framework for controlling a heterogeneous wireless robotic network consisting of aerial and ground vehicles. By use of the term heterogeneous, we imply the synergy of multiple robotic platforms characterized by different dynamics and specialized sensing capabilities. Two main scenarios concerning wireless communications are p...
Article
In this paper we consider the problem of coordinating robotic systems with different kinematics, sensing and vision capabilities, to achieve certain mission goals. An approach that makes use of a heterogeneous team of agents has several advantages when cost, integration of capabilities, or possible large search areas need to be considered. A hetero...
Article
In this paper we propose an application of adaptive synchronization of chaos to detect changes in the topology of a mobile robotic network. We assume that the network may evolve in time due to the relative motion of the mobile robots and due to unknown environmental conditions, such as the presence of obstacles in the environment. We consider that...
Conference Paper
In this paper we present a novel decentralized technique to detect changes in the topology of a mobile robotic network. The network topology evolves due to the relative motion of the robots and the presence of obstacles in the environment. We consider that each robot is equipped with a chaotic oscillator whose state is propagated to the other robot...
Conference Paper
Full-text available
Abstract We consider a resource allocation problem that ensures a fair QoS (Quality of Service) level among selfish clients in a cloud computing system. The clients share multiple resources and process applications concurrently on the cloud computing ...
Conference Paper
Over the past decade, the design process in the automotive industry has gone through a period of significant changes. Modern vehicles present a complex interaction of a large number of embedded Electronic Control Units (ECUs), interacting with each other over different types of networks. Furthermore, there is a current shift in vehicle architecture...
Chapter
Full-text available
This work addresses the general problem of resilient control of unknown stochastic linear time-invariant (LTI) systems in the presence of sensor attacks. Motivated by a vehicle cruise control application, this work considers a first order system with multiple measurements, of which a bounded subset may be corrupted. A frequency-domain-designed resi...
Chapter
In this chapter we consider the problem of coordinating robotic systems with different dynamics, sensing and vision capabilities, to achieve a unisonmission goal. An approach that makes use of a heterogeneous team of agents has several advantages when cost, integration of capabilities, or possible large search areas need to be investigated. A heter...
Article
Full-text available
In this paper we investigate a problem concerning wireless communication in multi agent systems. We create a mesh of mobile routers that move in a decentralized fashion (swarming) in a two-dimensional space in search of a moving target while maintaining communication connectivity constraints. The motion of the robots is dictated by: (i) a spring-ma...
Conference Paper
In this paper we create a mesh of mobile robots that move in a decentralized fashion (swarming) in a two-dimensional space while maintaining communication constraints. The motion of the agents is dictated by four factors: i) a spring-mass interaction between agents; ii) a repulsive force from the obstacles; iii) an attractive force from the base st...
Conference Paper
Full-text available
A decentralized method for mobile router net works is proposed in this paper. A group of mobile routers moves in a cluttered environment maintaining connectivity between a base station and multiple exploring users. The network is seen as a switched system in which virtual spring mass interactions create and destroy the links between agents. We prov...
Article
Full-text available
In this paper we develop a framework based on disjunctive programming for motion planning of robotic networks. Although the methodology presented in this paper can be applied to general motion planning problems we focus on coordinating a team of mobile routers to maintain connectivity between a fixed base station and a mobile user within a walled e...
Conference Paper
Full-text available
In this paper we develop a framework based on disjunctive programming for motion planning of mobile routers. Although the methodology presented in this paper can be applied to general motion planning problems we focus on coordinating a team of mobile routers to maintain connectivity between a fixed base station and a mobile user within a walled env...