Departmental Papers (CIS)

Date of this Version


Document Type

Conference Paper


The 3rd ACM International Conference on High Confidence Networked Systems (HiCoNS) was held April 15-17, 2014 in Berlin, Germany as part of Cyber Physical Systems Week 2014 (CPSWeek 2014).


This work considers the problem of performing resilient sensor fusion using past sensor measurements. In particular, we consider a system with n sensors measuring the same physical variable where some sensors might be attacked or faulty. We consider a setup in which each sensor provides the controller with a set of possible values for the true value. Here, more precise sensors provide smaller sets. Since a lot of modern sensors provide multidimensional measurements (e.g., position in three dimensions), the sets considered in this work are multidimensional polyhedra.

Given the assumption that some sensors can be attacked or faulty, the paper provides a sensor fusion algorithm that obtains a fusion polyhedron which is guaranteed to contain the true value and is minimal in size. A bound on the volume of the fusion polyhedron is also proved based on the number of faulty or attacked sensors. In addition, we incorporate system dynamics in order to utilize past measurements and further reduce the size of the fusion polyhedron. We describe several ways of mapping previous measurements to current time and compare them, under di erent assumptions, using the volume of the fusion polyhedron. Finally, we illustrate the implementation of the best of these methods and show its e ectiveness using a case study with sensor values from a real robot.

Subject Area

CPS Embedded Control, CPS Auto

Publication Title

3rd ACM International Conference on High Confidence Networked Systems (HiCoNS)

First Page


Last Page




Permission Statement

© ACM 2014. This is the author's version of the work. It is posted here for your personal use. Not for redistribution. The definitive Version of Record was published in Proceedings of the 3rd ACM International Conference on High Confidence Networked Systems (HiCoNS),


CPS security, sensor fusion, fault-tolerance, fault-tolerant, PRECISE_paper



Date Posted: 18 February 2014

This document has been peer reviewed.