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新论文 · v1arXiv:2611.16110

Harnessing Environmental Scatterers for Endogenous Target Covertness in 6G ISAC: A New Paradigm for Sensing Security

Yifan Zhang, Boxuan Xie, Mingyang Yang, Ying Liu, Riku Jäntti, Zan Li

原文摘要

Integrated sensing and communication (ISAC) is a cornerstone of 6G networks, enabling simultaneous data transmission and environmental perception. However, the ubiquitous radiation of sensing waveforms introduces a critical security vulnerability where the physical existence and characteristics of targets are continuously exposed to unauthorized wardens. Meanwhile, existing sensing-secure methods primarily focus on degrading a target warden's parameter-estimation accuracy, yet they fail to prevent wardens from detecting the target's physical presence. In this article, we first analyze sensing security threats in ISAC systems and survey existing sensing-secure methods. To address the critical gap, we propose a novel security paradigm termed endogenous target covertness. By intentionally harnessing environmental scatterers, such as known objects, ambient backscatter devices, and reconfigurable intelligent surfaces (RIS), as ghost targets, the proposed scheme ensures a low probability that the warden detects the true target for the true target at the warden. This deliberately renders the true target's existence indistinguishable to the warden, while the legitimate base station can extract the true target's response using prior knowledge of the scatterers. We demonstrate the effectiveness of the proposed scheme through a case study, proving that absolute target covertness can be achieved without consuming dedicated jamming power. Finally, we outline key open challenges and promising research directions to realize truly secure, ubiquitous sensing in future ISAC ecosystems.

cs.CR · cs.CY

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.11940

Reliability-Adaptive Multimodal Relative Pose Tracking for Underwater Leader-Follower Robots

Mingyang Yang, Zeyu Sha, Xiaorui Wang, Jun Wang, David Chen Wang, Feitian Zhang

原文摘要

Underwater leader-follower formation control requires continuous relative-pose estimation despite degraded sensing conditions and limited onboard computation. This paper presents a reliability-adaptive multimodal perception framework for six-degree-of-freedom relative-pose tracking between two moving underwater robots. The framework integrates complementary visual, acoustic-ranging, and hydrodynamic measurements while accounting for their distinct physical characteristics and time-varying reliability. It adaptively weights modality contributions and models temporal dependencies with linear computational complexity, enabling efficient pose estimation on embedded hardware. Extensive experiments were conducted using a custom-built AUV platform, with 648 pool trials spanning two leader vehicle types, three illumination conditions, and nine trajectory patterns. Evaluation yields an average translational error of 3.8 cm and an average orientation error of 2.4°. On an onboard NVIDIA Jetson AGX Orin, the fusion network achieves an inference latency of 17.62 ms, providing a 2.69-fold speedup over the evaluated Transformer-based fusion baseline. Closed-loop experiments further demonstrate stable formation maintenance with a moving leader under onboard computational constraints. A multimodal dataset containing measurements from all 648 trials will be made publicly available.

cs.RO

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.08898

FATHOM: World-Model-Guided Diffusion Action-Trajectory Selection for Sparse-Marker AUV Tracking

Xiaorui Wang, Zeyu Sha, Mingyang Yang, David Chen Wang, Feitian Zhang

原文摘要

Reliable relative tracking is fundamental to cooperative autonomous underwater vehicles (AUVs), yet remains challenging under nonlinear vehicle dynamics and degraded underwater visual conditions. Active light markers improve robustness to appearance variation, but provide deliberately sparse observations that can become incomplete or corrupted by occlusion, reflections, and detection noise during dynamic motion. To address the resulting partial-observation control problem, this paper proposes FATHOM, a world-model-guided diffusion action-trajectory selection framework for sparse-marker AUV tracking. FATHOM first integrates structured marker observations, inertial measurements, action history, and temporal dynamics into a predictive tracking belief using a multimodal task-supervised recurrent state-space model. A diffusion action prior then generates multiple expert-like multi-thruster trajectories, whose future tracking consequences are predicted through the learned latent dynamics. Rather than directly executing a generated trajectory, FATHOM selects the most favorable candidate under an explicit receding-horizon objective and continually updates the decision from onboard observations. Extensive offline analyses verify the learned predictive belief, multi-step world-model prediction, diffusion trajectory generation, and predictive selection. More importantly, comprehensive real-AUV experiments, including strong pose-based comparisons and component ablations, demonstrate robust autonomous tracking across nominal and challenging motions with naturally occurring partial marker visibility, while maintaining real-time onboard operation without motion-capture feedback.

cs.RO

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.05878

Improved Bounds on Distance Preservers

Yanyu Chen, Yu Chen, Zihan Tan, Mingyang Yang

原文摘要

Given an undirected unweighted graph $G$ on $n$ vertices and a set $P$ of $p$ pairs of its vertices, a distance preserver is a sparse subgraph of $G$ that exactly preserves the shortest-path distances between all pairs in $P$. In this paper, we prove a new upper bound of $O(n^{8/9} p^{4/9})$ for distance preservers when $p\in [n^{1/2}, n]$. Our result improves the previous bound of $O\big(n^{2/3}p^{2/3}+np^{1/3}\big)$ by Bodwin and Vassilevska Williams and $O(\min\{n+n^{1/2}p,\,np^{1/2}\})$ by Coppersmith and Elkin, particularly in the regime $p\in [n^{7/10}, n]$, and narrows the gap toward the conjectured $O(n^{2/3}p^{2/3}+n)$ bound. Using the techniques developed for distance preservers, we are also able to obtain pairwise additive $+2$ spanners with $O(n+n^{9/10}p^{2/5})$ edges, pairwise additive $+4$ spanners with $O(n+n^{24/25}p^{8/25})$ edges, and new bounds for sourcewise spanners, improving upon previous results in certain parameter regimes.

cs.DS

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arXiv ↗PDF ↗