arXiv subjects

Alessandro V. Papadopoulos

Publications and source records attributed to Alessandro V. Papadopoulos.

12 recordsLinked to original sources

arXiv2026

From Passive Monitoring to Active Defence: Resilient Control of Manipulators Under Cyberattacks

Cyber-physical robotic systems are vulnerable to false data injection attacks (FDIAs), in which an adversary corrupts sensor signals while evading residual-based passive anomaly detectors such as the chi-squared test. Such stealthy attacks can induce substantial end-effector deviations without triggering alarms. This paper studies the resilience of redundant manipulators to stealthy FDIAs and advances the architecture from passive monitoring to active defence. We formulate a closed-loop model comprising a feedback-linearized manipulator, a steady-state Kalman filter, and a chi-squared-based anomaly detector. Building on this passive monitoring layer, we propose an active control-level defence that attenuates the control input through a monotone function of an anomaly score generated by a novel actuation-projected, measurement-free state predictor. The proposed design provides probabilistic guarantees on nominal actuation loss and preserves closed-loop stability. From the attacker perspective, we derive a convex QCQP for computing one-step optimal stealthy attacks. Simulations on a 6-DOF planar manipulator show that the proposed defence significantly reduces attack-induced end-effector deviation while preserving nominal task performance in the absence of attacks.

cs.RO↗

arXiv2026

Active Defense Against False Data Injection Attacks in Robotic Manipulators

Robotic systems are vulnerable to False Data Injection Attacks (FDIAs), where adversaries corrupt sensor signals to gain malicious control. Feedback linearization exposes robotic systems to integrator vulnerability, making them susceptible to stealthy attacks that can cause significant deviations in end-effector behavior without raising alarms. This paper addresses the resilience of manipulators against finite-horizon FDIAs by formalizing two defense methods, namely anomaly-aware virtual damping and manipulability reduction, with probabilistic guarantees on nominal task execution. Simulations on a 7-DOF redundant manipulator show that the proposed defenses substantially reduce the impact of FDIA compared to using solely a threshold-based ADS like the Chi-squared, while preserving nominal task performance in the absence of attack.

cs.RO↗

arXiv2026

Robust Covert Quantum Communication under Bounded Channel Uncertainty

Covert quantum communication is usually analyzed under idealized assumptions that channel parameters, such as transmissivity and background noise, are perfectly known and constant. In realistic optical links, including satellite, fiber, and free-space systems, these parameters vary because of environmental fluctuations, calibration noise, and estimation errors. We study covert quantum communication over compound quantum optical channels with bounded uncertainty in both transmissivity and thermal noise, and derive guarantees that hold for all admissible channel realizations. We develop a robust framework for certifying both covertness and reliability under uncertainty. A central finding is that robustness cannot be obtained by simply inserting worst-case parameter values into known-channel bounds: the channel realizations that are most adverse for covertness and reliability generally occur at different corners of the uncertainty set. This creates a fundamental trade-off in secure system design. We derive a closed-form lower bound on the worst-case guaranteed number of covert qubits that can be transmitted reliably, identify a sharp feasibility boundary beyond which the guaranteed payload drops to zero, and quantify the security penalty caused by uncertainty. We validate the covertness term with QuTiP simulations of a four-mode bosonic model and combine it with an analytical reliability bound to evaluate the robust payload. Our results move covert quantum communication from nominal perfect-knowledge analysis to certified worst-case operation under uncertainty.

cs.CR↗

arXiv2025

A Modified Adaptive Data-Enabled Policy Optimization Control to Resolve State Perturbations

This paper proposes modifications to the data-enabled policy optimization (DeePO) algorithm to mitigate state perturbations. DeePO is an adaptive, data-driven approach designed to iteratively compute a feedback gain equivalent to the certainty-equivalence LQR gain. Like other data-driven approaches based on Willems' fundamental lemma, DeePO requires persistently exciting input signals. However, linear state-feedback gains from LQR designs cannot inherently produce such inputs. To address this, probing noise is conventionally added to the control signal to ensure persistent excitation. However, the added noise may induce undesirable state perturbations. We first identify two key issues that jeopardize the desired performance of DeePO when probing noise is not added: the convergence of states to the equilibrium point, and the convergence of the controller to its optimal value. To address these challenges without relying on probing noise, we propose Perturbation-Free DeePO (PFDeePO) built on two fundamental principles. First, the algorithm pauses the control gain updating in DeePO process when system states are near the equilibrium point. Second, it applies a multiplicative noise, scaled by a mean value of $1$ as a gain for the control signal, when the controller converges. This approach minimizes the impact of noise as the system approaches equilibrium while preserving stability. We demonstrate the effectiveness of PFDeePO through simulations, showcasing its ability to eliminate state perturbations while maintaining system performance and stability.

eess.SY↗

arXiv2025

An Adaptive Data-Enabled Policy Optimization Approach for Autonomous Bicycle Control

This paper presents a unified control framework that integrates a Feedback Linearization (FL) controller in the inner loop with an adaptive Data-Enabled Policy Optimization (DeePO) controller in the outer loop to balance an autonomous bicycle. While the FL controller stabilizes and partially linearizes the inherently unstable and nonlinear system, its performance is compromised by unmodeled dynamics and time-varying characteristics. To overcome these limitations, the DeePO controller is introduced to enhance adaptability and robustness. The initial control policy of DeePO is obtained from a finite set of offline, persistently exciting input and state data. To improve stability and compensate for system nonlinearities and disturbances, a robustness-promoting regularizer refines the initial policy, while the adaptive section of the DeePO framework is enhanced with a forgetting factor to improve adaptation to time-varying dynamics. The proposed DeePO+FL approach is evaluated through simulations and real-world experiments on an instrumented autonomous bicycle. Results demonstrate its superiority over the FL-only approach, achieving more precise tracking of the reference lean angle and lean rate.

eess.SY↗

arXiv2024

Robust Online Epistemic Replanning of Multi-Robot Missions

As Multi-Robot Systems (MRS) become more affordable and computing capabilities grow, they provide significant advantages for complex applications such as environmental monitoring, underwater inspections, or space exploration. However, accounting for potential communication loss or the unavailability of communication infrastructures in these application domains remains an open problem. Much of the applicable MRS research assumes that the system can sustain communication through proximity regulations and formation control or by devising a framework for separating and adhering to a predetermined plan for extended periods of disconnection. The latter technique enables an MRS to be more efficient, but breakdowns and environmental uncertainties can have a domino effect throughout the system, particularly when the mission goal is intricate or time-sensitive. To deal with this problem, our proposed framework has two main phases: i) a centralized planner to allocate mission tasks by rewarding intermittent rendezvous between robots to mitigate the effects of the unforeseen events during mission execution, and ii) a decentralized replanning scheme leveraging epistemic planning to formalize belief propagation and a Monte Carlo tree search for policy optimization given distributed rational belief updates. The proposed framework outperforms a baseline heuristic and is validated using simulations and experiments with aerial vehicles.

cs.RO↗

arXiv2023

The SPEC-RG Reference Architecture for the Compute Continuum

As the next generation of diverse workloads like autonomous driving and augmented/virtual reality evolves, computation is shifting from cloud-based services to the edge, leading to the emergence of a cloud-edge compute continuum. This continuum promises a wide spectrum of deployment opportunities for workloads that can leverage the strengths of cloud (scalable infrastructure, high reliability) and edge (energy efficient, low latencies). Despite its promises, the continuum has only been studied in silos of various computing models, thus lacking strong end-to-end theoretical and engineering foundations for computing and resource management across the continuum. Consequently, developers resort to ad hoc approaches to reason about performance and resource utilization of workloads in the continuum. In this work, we conduct a first-of-its-kind systematic study of various computing models, identify salient properties, and make a case to unify them under a compute continuum reference architecture. This architecture provides an end-to-end analysis framework for developers to reason about resource management, workload distribution, and performance analysis. We demonstrate the utility of the reference architecture by analyzing two popular continuum workloads, deep learning and industrial IoT. We have developed an accompanying deployment and benchmarking framework and first-order analytical model for quantitative reasoning of continuum workloads. The framework is open-sourced and available at https://github.com/atlarge-research/continuum.

cs.DC↗

arXiv2022

Towards Mapping Control Theory and Software Engineering Properties using Specification Patterns

A traditional approach to realize self-adaptation in software engineering (SE) is by means of feedback loops. The goals of the system can be specified as formal properties that are verified against models of the system. On the other hand, control theory (CT) provides a well-established foundation for designing feedback loop systems and providing guarantees for essential properties, such as stability, settling time, and steady state error. Currently, it is an open question whether and how traditional SE approaches to self-adaptation consider properties from CT. Answering this question is challenging given the principle differences in representing properties in both fields. In this paper, we take a first step to answer this question. We follow a bottom up approach where we specify a control design (in Simulink) for a case inspired by Scuderia Ferrari (F1) and provide evidence for stability and safety. The design is then transferred into code (in C) that is further optimized. Next, we define properties that enable verifying whether the control properties still hold at code level. Then, we consolidate the solution by mapping the properties in both worlds using specification patterns as common language and we verify the correctness of this mapping. The mapping offers a reusable artifact to solve similar problems. Finally, we outline opportunities for future work, particularly to refine and extend the mapping and investigate how it can improve the engineering of self-adaptive systems for both SE and CT engineers.

cs.SE↗

arXiv2022

STRETCH: Virtual Shared-Nothing Parallelism for Scalable and Elastic Stream Processing

Stream processing applications extract value from raw data through Directed Acyclic Graphs of data analysis tasks. Shared-nothing (SN) parallelism is the de-facto standard to scale stream processing applications. Given an application, SN parallelism instantiates several copies of each analysis task, making each instance responsible for a dedicated portion of the overall analysis, and relies on dedicated queues to exchange data among connected instances. On the one hand, SN parallelism can scale the execution of applications both up and out since threads can run task instances within and across processes/nodes. On the other hand, its lack of sharing can cause unnecessary overheads and hinder the scaling up when threads operate on data that could be jointly accessed in shared memory. This trade-off motivated us in studying a way for stream processing applications to leverage shared memory and boost the scale up (before the scale out) while adhering to the widely-adopted and SN-based APIs for stream processing applications. We introduce STRETCH, a framework that maximizes the scale up and offers instantaneous elastic reconfigurations (without state transfer) for stream processing applications. We propose the concept of Virtual Shared-Nothing (VSN) parallelism and elasticity and provide formal definitions and correctness proofs for the semantics of the analysis tasks supported by STRETCH, showing they extend the ones found in common Stream Processing Engines. We also provide a fully implemented prototype and show that STRETCH's performance exceeds that of state-of-the-art frameworks such as Apache Flink and offers, to the best of our knowledge, unprecedented ultra-fast reconfigurations, taking less than 40 ms even when provisioning tens of new task instances.

cs.DC↗

arXiv2021

Performance Modeling and Vertical Autoscaling of Stream Joins

Streaming analysis is widely used in cloud as well as edge infrastructures. In these contexts, fine-grained application performance can be based on accurate modeling of streaming operators. This is especially beneficial for computationally expensive operators like adaptive stream joins that, being very sensitive to rate-varying data streams, would otherwise require costly frequent monitoring. We propose a dynamic model for the processing throughput and latency of adaptive stream joins that run with different parallelism degrees. The model is presented with progressive complexity, from a centralized non-deterministic up to a deterministic parallel stream join, describing how throughput and latency dynamics are influenced by various configuration parameters. The model is catalytic for understanding the behavior of stream joins against different system deployments, as we show with our model-based autoscaling methodology to change the parallelism degree of stream joins during the execution. Our thorough evaluation, for a broad spectrum of parameter, confirms the model can reliably predict throughput and latency metrics with a fairly high accuracy, with the median error in estimation ranging from approximately 0.1% to 6.5%, even for an overloaded system. Furthermore, we show that our model allows to efficiently control adaptive stream joins by estimating the needed resources solely based on the observed input load. In particular, we show it can be employed to enable efficient autoscaling, even when big changes in the input load happen frequently (in the realm of seconds).

cs.DC↗

arXiv2020

Towards Bridging the Gap between Control and Self-Adaptive System Properties

Two of the main paradigms used to build adaptive software employ different types of properties to capture relevant aspects of the system's run-time behavior. On the one hand, control systems consider properties that concern static aspects like stability, as well as dynamic properties that capture the transient evolution of variables such as settling time. On the other hand, self-adaptive systems consider mostly non-functional properties that capture concerns such as performance, reliability, and cost. In general, it is not easy to reconcile these two types of properties or identify under which conditions they constitute a good fit to provide run-time guarantees. There is a need of identifying the key properties in the areas of control and self-adaptation, as well as of characterizing and mapping them to better understand how they relate and possibly complement each other. In this paper, we take a first step to tackle this problem by: (1) identifying a set of key properties in control theory, (2) illustrating the formalization of some of these properties employing temporal logic languages commonly used to engineer self-adaptive software systems, and (3) illustrating how to map key properties that characterize self-adaptive software systems into control properties, leveraging their formalization in temporal logics. We illustrate the different steps of the mapping on an exemplar case in the cloud computing domain and conclude with identifying open challenges in the area.

cs.SE↗

arXiv2019

Performance-Feedback Autoscaling with Budget Constraints for Cloud-based Workloads of Workflows

The growing popularity of workflows in the cloud domain promoted the development of sophisticated autoscaling policies that allow automatic allocation and deallocation of resources. However, many state-of-the-art autoscaling policies for workflows are mostly plan-based or designed for batches (ensembles) of workflows. This reduces their flexibility when dealing with workloads of workflows, as the workloads are often subject to unpredictable resource demand fluctuations. Moreover, autoscaling in clouds almost always imposes budget constraints that should be satisfied. The budget-aware autoscalers for workflows usually require task runtime estimates to be provided beforehand, which is not always possible when dealing with workloads due to their dynamic nature. To address these issues, we propose a novel Performance-Feedback Autoscaler (PFA) that is budget-aware and does not require task runtime estimates for its operation. Instead, it uses the performance-feedback loop that monitors the average throughput on each resource type. We implement PFA in the popular Apache Airflow workflow management system, and compare the performance of our autoscaler with other two state-of-the-art autoscalers, and with the optimal solution obtained with the Mixed Integer Programming approach. Our results show that PFA outperforms other considered online autoscalers, as it effectively minimizes the average job slowdown by up to 47% while still satisfying the budget constraints. Moreover, PFA shows by up to 76% lower average runtime than the competitors.

cs.DC↗