UMD Theses and Dissertations

Permanent URI for this collectionhttp://hdl.handle.net/1903/3

New submissions to the thesis/dissertation collections are added automatically as they are received from the Graduate School. Currently, the Graduate School deposits all theses and dissertations from a given semester after the official graduation date. This means that there may be up to a 4 month delay in the appearance of a given thesis/dissertation in DRUM.

More information is available at Theses and Dissertations at University of Maryland Libraries.

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Author: search.filters.author.Prasad, AkshaySubject: search.filters.subject.Quadrotor

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    RESILIENT STATE ESTIMATION FOR MICRO AIR VEHICLES UNDER SENSOR ATTACKS
    (2017) Prasad, Akshay; Chopra, Nikhil; Systems Engineering; Digital Repository at the University of Maryland; University of Maryland (College Park, Md.)
    This thesis proposes a solution to the problem of resilient state estimation and sensor fusion in an autonomous micro air vehicle. The setup comprises of redundant sensors that measure the same physical signal. An adversary may spoof a subset of these sensors and send falsified readings to the controller, potentially compromising performance and safety of the system. This work integrates Brooks-Iyengar Sensor fusion algorithm with a generic state estimator as a method to thwart sensor attacks. The algorithm outputs a point estimate and a fusion interval based on an assumed set of faulty sensors. Finally, the thesis illustrates the usefulness of the resilient state estimator with a case study on a MAV flight dataset.