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arXiv · 2609.05739

Resilient Control Loops in Autonomous Vehicles Under Adversarial Jamming via Spectral Perception and Network-Layer Failover

Luis Barajas·Colin Jeardoe·Jaewon Kim·Eman Hammad
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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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Luis Barajas, Colin Jeardoe, Jaewon Kim, Eman Hammad. 2026-09-04. Resilient Control Loops in Autonomous Vehicles Under Adversarial Jamming via Spectral Perception and Network-Layer Failover. https://arxiv.org/abs/2609.05739

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