Autonomous driving currently lacks robust evidence of energy efficiency when using energy-model-agnostic trajectory planning. To address this, we explore how differential energy models can be effectively utilized under varying driving conditions to enhance energy efficiency. Furthermore, we propose an online nonlinear programming approach that optimizes polynomial trajectories generated by the Frenet polynomial method while incorporating traffic trajectory data and road slope predictions. Through case studies, quantitative analyses, and ablation studies conducted on both sedan and truck models, we demonstrate the effectiveness of the proposed method. [Video]

Robot Operating System (ROS) has been widely used to develop robotic applications. The first generation of ROS generally lacks security features, and ROS 2 is introduced with security support. However, security concerns still exist for running ROS in practical multi-tenant environments. In this paper, we conduct an in-depth investigation into the security of ROS 2. We focus on vulnerabilities in ROS nodes and topics and intend to explore methods to break the isolation and security mechanisms systematically. We devise a set of strategies that can be exploited by attackers to escalate privilege or cause information leakage in a multi-tenant environment. These attacks can bypass existing isolation and security mechanisms, including ROS 2's native security module. To validate our findings, we employ simulations across various real-world scenarios to demonstrate how attackers could exploit these vulnerabilities to bypass existing security mechanisms. Finally, we present several defense practices to mitigate these identified threats.

In today's digital landscape, the ubiquity of mobile devices underscores the urgent need for stringent security protocols in both data transmission and storage. Plausibly deniable encryption (PDE) stands out as a pivotal solution, particularly in jurisdictions marked by rigorous regulations or increased vulnerabilities of personal data. However, the existing PDE systems for mobile platforms have evident limitations. These include vulnerabilities to multi-snapshot attacks over RAM and flash memory, an undue dependence on non-secure operating systems, traceable PDE entry point, and a conspicuous PDE application prone to reverse engineering.