Related papers: Credible Autocoding of Fault Detection Observers
We study how to design a secure observer-based distributed controller such that a group of vehicles can achieve accurate state estimates and formation control even if the measurements of a subset of vehicle sensors are compromised by a…
The full deployment of autonomous driving systems on a worldwide scale requires that the self-driving vehicle be operated in a provably safe manner, i.e., the vehicle must be able to avoid collisions in any possible traffic situation. In…
Fault detection is crucial for ensuring the safety and reliability of modern industrial systems. However, a significant scientific challenge is the lack of rigorous risk control and reliable uncertainty quantification in existing diagnostic…
Autonomous Cyber-Physical Systems (CPS) fuse proprioceptive sensors such as GPS and exteroceptive sensors including Light Detection and Ranging (LiDAR) and cameras for state estimation and environmental observation. It has been shown that…
Object detectors in real-world applications often fail to detect objects due to varying factors such as weather conditions and noisy input. Therefore, a process that mitigates false detections is crucial for both safety and accuracy. While…
The increasing use of autonomous and semi-autonomous agents in society has made it crucial to validate their safety. However, the complex scenarios in which they are used may make formal verification impossible. To address this challenge,…
It is challenging to verify that the planned security mechanisms are actually implemented in the software. In the context of model-based development, the implemented security mechanisms must capture all intended security properties that…
Real-time online object tracking in videos constitutes a core task in computer vision, with wide-ranging applications including video surveillance, motion capture, and robotics. Deployed tracking systems usually lack formal safety…
This work addresses the design of a robust hybrid observer for discrete-time switched linear systems subject to unknown inputs and modeling errors. The observer herein proposed is synthesized, for the case when the active mode is unknown…
Observability and alerting form the backbone of modern reliability engineering. Alerts help teams catch faults early before they turn into production outages and serve as first clues for troubleshooting. However, designing effective alerts…
In this paper, we propose a new paradigm of fault diagnosis in dynamic systems as an alternative to the well-established observer-based framework. The basic idea behind this work is to (i) formulate fault detection and isolation as…
Simulation is essential to validate autonomous driving systems. However, a simple simulation, even for an extremely high number of simulated miles or hours, is not sufficient. We need well-founded criteria showing that simulation does…
This paper presents a novel observer-based approach to detect and isolate faulty sensors in nonlinear systems. The proposed sensor fault detection and isolation (s-FDI) method applies to a general class of nonlinear systems. Our focus is on…
This paper introduces Test-time Correction (TTC), an online 3D detection system designed to rectify test-time errors using various auxiliary feedback, aiming to enhance the safety of deployed autonomous driving systems. Unlike conventional…
In the current control design of safety-critical autonomous systems, formal verification techniques are typically applied after the controller is designed to evaluate whether the required properties (e.g., safety) are satisfied. However,…
As a general trend in industrial robotics, an increasing number of safety functions are being developed or re-engineered to be handled in software rather than by physical hardware such as safety relays or interlock circuits. This trend…
The strongly correlated systems we use to realise quantum error-correcting codes may give rise to high-weight, problematic errors. Encouragingly, we can expect local quantum error-correcting codes with no string-like logical operators $-$…
Formal verification provides mathematical guarantees that a software is correct. Design-level verification tools ensure software specifications are correct, but they do not expose defects in actual implementations. For this purpose,…
We consider the problem of safe control in discrete autonomous agents that use learned components for imperfect perception (or more generally, state estimation) from high-dimensional observations. We propose a shield construction that…
The realization of quantum error correction is an essential ingredient for reaching the full potential of fault-tolerant universal quantum computation. Using a range of different schemes, logical qubits can be redundantly encoded in a set…