Matches in SemOpenAlex for { <https://semopenalex.org/work/W3207043982> ?p ?o ?g. }
Showing items 1 to 100 of
100
with 100 items per page.
- W3207043982 abstract "Trajectory planning is a key piece in the algorithmic architecture of a robot. Trajectory planners typically use iterative optimization schemes for generating smooth trajectories that avoid collisions and are optimal for tracking given the robot’s physical specifications. Starting from an initial estimate, the planners iteratively refine the solution so as to satisfy the desired constraints. In this paper, we show that such iterative optimization based planners can be vulnerable to adversarial attacks that force the planner either to fail completely, or significantly increase the time required to find a solution. The key insight here is that an adversary in the environment can directly affect the optimization cost function of a planner. We demonstrate how the adversary can adjust its own state configurations to result in poorly conditioned eigenstructure of the objective leading to failures. We apply our method against two state of the art trajectory planners and demonstrate that an adversary can consistently exploit certain weaknesses of an iterative optimization scheme." @default.
- W3207043982 created "2021-10-25" @default.
- W3207043982 creator A5050296324 @default.
- W3207043982 creator A5078150431 @default.
- W3207043982 date "2021-05-30" @default.
- W3207043982 modified "2023-10-16" @default.
- W3207043982 title "Adversarial Attacks on Optimization based Planners" @default.
- W3207043982 cites W2019965290 @default.
- W3207043982 cites W2099893201 @default.
- W3207043982 cites W2103728338 @default.
- W3207043982 cites W2158390457 @default.
- W3207043982 cites W2482392012 @default.
- W3207043982 cites W2535873859 @default.
- W3207043982 cites W2588802774 @default.
- W3207043982 cites W2752340395 @default.
- W3207043982 cites W2798302089 @default.
- W3207043982 cites W2807095006 @default.
- W3207043982 cites W2951930445 @default.
- W3207043982 cites W2962787639 @default.
- W3207043982 cites W2962822210 @default.
- W3207043982 cites W2963433607 @default.
- W3207043982 cites W3011042361 @default.
- W3207043982 cites W3091945716 @default.
- W3207043982 cites W3098925401 @default.
- W3207043982 cites W3105750153 @default.
- W3207043982 cites W3106333735 @default.
- W3207043982 cites W4250739957 @default.
- W3207043982 cites W4255045719 @default.
- W3207043982 doi "https://doi.org/10.1109/icra48506.2021.9561817" @default.
- W3207043982 hasPublicationYear "2021" @default.
- W3207043982 type Work @default.
- W3207043982 sameAs 3207043982 @default.
- W3207043982 citedByCount "1" @default.
- W3207043982 countsByYear W32070439822022 @default.
- W3207043982 crossrefType "proceedings-article" @default.
- W3207043982 hasAuthorship W3207043982A5050296324 @default.
- W3207043982 hasAuthorship W3207043982A5078150431 @default.
- W3207043982 hasBestOaLocation W32070439822 @default.
- W3207043982 hasConcept C11413529 @default.
- W3207043982 hasConcept C121332964 @default.
- W3207043982 hasConcept C126255220 @default.
- W3207043982 hasConcept C1276947 @default.
- W3207043982 hasConcept C134306372 @default.
- W3207043982 hasConcept C13662910 @default.
- W3207043982 hasConcept C137836250 @default.
- W3207043982 hasConcept C154945302 @default.
- W3207043982 hasConcept C159694833 @default.
- W3207043982 hasConcept C165696696 @default.
- W3207043982 hasConcept C173246807 @default.
- W3207043982 hasConcept C26517878 @default.
- W3207043982 hasConcept C2776999362 @default.
- W3207043982 hasConcept C33923547 @default.
- W3207043982 hasConcept C37736160 @default.
- W3207043982 hasConcept C38652104 @default.
- W3207043982 hasConcept C41008148 @default.
- W3207043982 hasConcept C41065033 @default.
- W3207043982 hasConcept C77618280 @default.
- W3207043982 hasConcept C81074085 @default.
- W3207043982 hasConcept C90509273 @default.
- W3207043982 hasConcept C91575142 @default.
- W3207043982 hasConceptScore W3207043982C11413529 @default.
- W3207043982 hasConceptScore W3207043982C121332964 @default.
- W3207043982 hasConceptScore W3207043982C126255220 @default.
- W3207043982 hasConceptScore W3207043982C1276947 @default.
- W3207043982 hasConceptScore W3207043982C134306372 @default.
- W3207043982 hasConceptScore W3207043982C13662910 @default.
- W3207043982 hasConceptScore W3207043982C137836250 @default.
- W3207043982 hasConceptScore W3207043982C154945302 @default.
- W3207043982 hasConceptScore W3207043982C159694833 @default.
- W3207043982 hasConceptScore W3207043982C165696696 @default.
- W3207043982 hasConceptScore W3207043982C173246807 @default.
- W3207043982 hasConceptScore W3207043982C26517878 @default.
- W3207043982 hasConceptScore W3207043982C2776999362 @default.
- W3207043982 hasConceptScore W3207043982C33923547 @default.
- W3207043982 hasConceptScore W3207043982C37736160 @default.
- W3207043982 hasConceptScore W3207043982C38652104 @default.
- W3207043982 hasConceptScore W3207043982C41008148 @default.
- W3207043982 hasConceptScore W3207043982C41065033 @default.
- W3207043982 hasConceptScore W3207043982C77618280 @default.
- W3207043982 hasConceptScore W3207043982C81074085 @default.
- W3207043982 hasConceptScore W3207043982C90509273 @default.
- W3207043982 hasConceptScore W3207043982C91575142 @default.
- W3207043982 hasLocation W32070439821 @default.
- W3207043982 hasLocation W32070439822 @default.
- W3207043982 hasOpenAccess W3207043982 @default.
- W3207043982 hasPrimaryLocation W32070439821 @default.
- W3207043982 hasRelatedWork W1680735664 @default.
- W3207043982 hasRelatedWork W2000140632 @default.
- W3207043982 hasRelatedWork W2005354226 @default.
- W3207043982 hasRelatedWork W2065492591 @default.
- W3207043982 hasRelatedWork W2083550201 @default.
- W3207043982 hasRelatedWork W2790483871 @default.
- W3207043982 hasRelatedWork W3095132291 @default.
- W3207043982 hasRelatedWork W3118331990 @default.
- W3207043982 hasRelatedWork W3207043982 @default.
- W3207043982 hasRelatedWork W4210847363 @default.
- W3207043982 isParatext "false" @default.
- W3207043982 isRetracted "false" @default.
- W3207043982 magId "3207043982" @default.
- W3207043982 workType "article" @default.