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Multidimensional state estimation in adversarial environment 
Abstract 
We consider the estimation of a vector sta … We consider the estimation of a vector state based on m measurements that can be potentially manipulated by an adversary. The attacker is assumed to have limited resources and can only manipulate up to l of the m measurements. However, it can the compromise measurements arbitrarily. The problem is formulated as a minimax optimization, where one seeks to construct an optimal estimator that minimizes the âworstcaseâ error against all possible manipulations by the attacker and all possible sensor noises. We show that if the system is not observable after removing 2l sensors, then the worstcase error is infinite, regardless of the estimation strategy. If the system remains observable after removing arbitrary set of 2l sensor, we prove that the optimal state estimation can be computed by solving a semidefinite programming problem. A numerical example is provided to illustrate the effectiveness of the proposed state estimator. ctiveness of the proposed state estimator. +


Authors  Yilin Mo and Richard M. Murray + 
Funding  ICyPhy: Industrial CyberPhysical Systems + 
ID  2015a + 
Source  Submitted, 2015 Chinese Control Conference (CCC) + 
Tag  mm15ccc + 
Title  Multidimensional state estimation in adversarial environment + 
Type  Conference Paper + 
Categories  Papers 
Modification date This property is a special property in this wiki.

15 May 2016 05:39:27 + 
URL This property is a special property in this wiki.

http://www.cds.caltech.edu/~murray/preprints/mm15ccc_s.pdf + 
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Multidimensional state estimation in adversarial environment +  Title 
