Related papers: Formalizing Safety Requirements Using Controlling …
Safety-critical control is a crucial aspect of modern systems, and Control Barrier Functions (CBFs) have gained popularity as the framework of choice for ensuring safety. However, implementing a CBF requires exact knowledge of the true…
Accountability is the property of a system that enables the uncovering of causes for events and helps understand who or what is responsible for these events. Definitions and interpretations of accountability differ; however, they are…
There is an increasing necessity to deploy autonomous systems in highly heterogeneous, dynamic environments, e.g. service robots in hospitals or autonomous cars on highways. Due to the uncertainty in these environments, the verification…
Enforcing safety for dynamical systems is challenging, since it requires constraint satisfaction along trajectory predictions. Equivalent control constraints can be computed in the form of sets that enforce positive invariance, and can thus…
This chapter formulates seven lessons for preventing harm in artificial intelligence (AI) systems based on insights from the field of system safety for software-based automation in safety-critical domains. New applications of AI across…
Safety architectures play a crucial role in the safety assurance of automated driving vehicles (ADVs). They can be used as safety envelopes of black-box ADV controllers, and for graceful degradation from one ODD to another. Building on our…
Developing safe autonomous driving systems is a major scientific and technical challenge. Existing AI-based end-to-end solutions do not offer the necessary safety guarantees, while traditional systems engineering approaches are defeated by…
We propose a methodology that exploits the contract formalism to characterize the continuous-time safety control problem, which is often difficult to address, in terms of a discrete-time one, for which numerous efficient solution scheme…
Widespread adoption of autonomous cars will require greater confidence in their safety than is currently possible. Certified control is a new safety architecture whose goal is two-fold: to achieve a very high level of safety, and to provide…
Modern autonomous systems, such as flying, legged, and wheeled robots, are generally characterized by high-dimensional nonlinear dynamics, which presents challenges for model-based safety-critical control design. Motivated by the success of…
Designing, assuring and releasing safe automated vehicles is a highly interdisciplinary process. As complex systems, automated driving systems will inevitably be subject to emergent properties, i. e., the properties of the overall system…
This work explores a collaborative method for ensuring safety in multi-agent formation control problems. We formulate a control barrier function (CBF) based safety filter control law for a generic distributed formation controller and extend…
The paper presents an explicit state-based modeling approach aimed at modeling Systems of Systems behavior. The approach allows to specify and verify incrementally safety and liveness rules without using model checking techniques. The…
Despite the increasing testing operations of automated vehicles on public roads, media reports on incidents show that safety issues caused by automated driving systems persist to this day. Manufacturers face high development uncertainty…
Functional dependencies and feature interactions in automotive software systems are a major source of erroneous and deficient behavior. To overcome these problems, many approaches exist that focus on modeling these functional dependencies…
The design of embedded safety-critical systems such as those used in next-generation automotive and autonomous platforms, is increasingly challenged by escalating system complexity, hardware-software heterogeneity, and the integration of…
This paper presents a novel approach for the safe control design of systems with parametric uncertainties in both drift terms and control-input matrices. The method combines control barrier functions and adaptive laws to generate a safe…
Modern cyber-physical systems are operated by complex software that increasingly takes over safety-critical functions. Software enables rapid iterations and continuous delivery of new functionality that meets the ever-changing expectations…
In workflows and business processes, there are often security requirements on both the data, i.e. confidentiality and integrity, and the process, e.g. separation of duty. Graphical notations exist for specifying both workflows and…
Abstraction-based control design is a promising approach for ensuring safety-critical control of complex cyber-physical systems. A key aspect of this methodology is the relation between the original and abstract systems, which ensures that…