  Cyber Physical Systems (CPS) are becoming ubiquitous and affect the physical
world, yet security is seldom at the forefront of their design. This is
especially true of robotic control algorithms which seldom consider the effect
of a cyber attack on mission objectives and success. This work presents a
secure optimal control algorithm in the face of a cyber attack on a robot's
knowledge of the environment. This work focuses on cyber attack, but the
results generalize to incomplete or outdated information of an environment.
This work fuses ideas from robust control, optimal control, and sensor based
planning to provide a generalization of stopping distance in 3D. The planner is
implemented in simulation and its properties are analyzed.
