N. Sai

A Hybrid EKF–CUSUM Framework for Real-Time Anomaly Detection in Multi-Sensor Fusion Systems

This paper proposes a hybrid model-based anomaly detection framework that integrates the Extended Kalman Filter (EKF) and the Cumulative Sum (CUSUM) algorithm for real-time cyberattack detection in autonomous vehicle sensor networks. The framework utilizes GPS and LiDAR data streams to perform nonlinear state estimatio...