Related papers: Formalizing Safety Requirements Using Controlling …
This tutorial provides a critical review of the practical application of Control Barrier Functions (CBFs) in robotic safety. While the theoretical foundations of CBFs are well-established, I identify a recurring gap between the mathematical…
Perception is a safety-critical function of autonomous vehicles and machine learning (ML) plays a key role in its implementation. This position paper identifies (1) perceptual uncertainty as a performance measure used to define safety…
A controller -- a software module managing hardware behavior -- is a key component of a typical robot system. While control theory gives safety guarantees for standard controller designs, the practical implementation of controllers in…
The execution failure of cyber-physical systems (e.g., autonomous driving systems, unmanned aerial systems, and robotic systems) could result in the loss of life, severe injuries, large-scale environmental damage, property destruction, and…
Autonomous systems are often deployed in complex sociotechnical environments, such as public roads, where they must behave safely and securely. Unlike many traditionally engineered systems, autonomous systems are expected to behave…
Industrial Safety deals with the physical integrity of humans, machines and the environment when they interact during production scenarios. Industrial Safety is subject to a rigorous certification process that leads to inflexible settings,…
This paper studies the design of controllers for discontinuous dynamics that ensure the safety of non-smooth sets. The safe set is represented by arbitrarily nested unions and intersections of 0-superlevel sets of differentiable functions.…
In today's world, critical infrastructure is often controlled by computing systems. This introduces new risks for cyber attacks, which can compromise the security and disrupt the functionality of these systems. It is therefore necessary to…
As robots become increasingly integrated into open-world, human-centered environments, their ability to interpret natural language instructions and adhere to safety constraints is critical for effective and trustworthy interaction. Existing…
The current paradigm for safety alignment of large language models (LLMs) follows a one-size-fits-all approach: the model refuses to interact with any content deemed unsafe by the model provider. This approach lacks flexibility in the face…
The growing advancements in Autonomous Vehicles (AVs) have emphasized the critical need to prioritize the absolute safety of AV maneuvers, especially in dynamic and unpredictable environments or situations. This objective becomes even more…
Background: Due to their diversity, complexity, and above all importance, safety-critical and dependable systems must be developed with special diligence. Criticality increases as these systems likely contain artificial intelligence (AI)…
To model real-world software systems, modelling paradigms should support a form of compositionality. In interface theory and model-based testing with inputs and outputs, conjunctive operators have been introduced: the behaviour allowed by…
Control systems are sets of interconnected hardware and software components which regulate the behaviour of processes. The software of modern control systems rises for some years by requirements regarding the flexibility and functionality.…
A decentralized feedback controller for multi-agent systems, inspired by vehicle platooning, is proposed. The closed loop resulting from the decentralized control action has three distinctive features: the generation of collision-free…
A key goal of the System-Theoretic Process Analysis (STPA) hazard analysis technique is the identification of loss scenarios - causal factors that could potentially lead to an accident. We propose an approach that aims to assist engineers…
Early-stage specifications of safety-critical systems are typically expressed in natural language, making it difficult to derive formal properties suitable for verification and needed to guarantee safety. While recent Large Language Model…
This paper considers collision avoidance for vehicles with first-order nonholonomic constraints maintaining nonzero forward speeds, moving within dynamic environments. We leverage the concept of control barrier functions (CBFs) to…
A software architecture describes the structure of a computing system by specifying software components and their interactions. Mapping a software architecture to an implementation is a well known challenge. A key element of this mapping is…
This article describes a fully automated, credible autocoding chain for control systems. The framework generates code, along with guarantees of high level functional properties which can be independently verified. It relies on domain…