Robotics paper index
Resilient Control Loops in Autonomous Vehicles Under Adversarial Jamming via Spectral Perception and Network-Layer Failover
One-line summary
A robotics research paper on Resilient Control Loops in Autonomous Vehicles Under Adversarial Jamming via Spectral Perception and Network-Layer Failover.
Engineering notes
Engineering notes will be added by the Robot Papers editorial team.
Chinese explanation / 中文解读
中文解读待补充：本站会优先为 VLA、具身智能、人形机器人控制、机器人操作等高价值论文补充中文说明。
Original abstract
The operational integrity of autonomous mobile robots relies on the continuous availability of wireless control loops, making them highly attractive targets for adversarial intentional electromagnetic interference. This paper introduces a resilient, cross-layer framework that combines physical-layer spectral perception with network-layer routing optimization to protect middleware stability, such as ROS2, during intentional electromagnetic interference. Utilizing a software-defined radio front-end, the system extracts dynamic spectral descriptors, including spectral entropy and channel occupancy, to inform a Random Forest classifier that establishes adaptive environmental baselines. To ensure uninterrupted data flow, the architecture maintains dual pre-authenticated physical interfaces in a hot-standby configuration, enabling instantaneous failover through automated network routing table updates. Empirical validation on a physical ROS2 mobile robot testbed demonstrates that this adaptive hardware-assisted architecture optimizes communication recovery to an average of 141ms. This sub-second restoration translates directly into a 78.9% reduction in pooled root-mean-square path tracking error compared to software re-association, successfully securing system-level mission integrity.
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