Related papers: Formal Specification and Analysis of Autonomous Sy…
Integrating autonomous and adaptive behavior into software-intensive systems presents significant challenges for software development, as uncertainties in the environment or decision-making processes must be explicitly captured. These…
We present an approach to the verification of systems for whose description some elements - constants or functions - are underspecified and can be regarded as parameters, and, in particular, describe a method for automatically generating…
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…
The increasing adoption of Reinforcement Learning in safety-critical systems domains such as autonomous vehicles, health, and aviation raises the need for ensuring their safety. Existing safety mechanisms such as adversarial training,…
A novel data-driven method for formal verification is proposed to study complex systems operating in safety-critical domains. The proposed approach is able to formally verify discrete-time stochastic dynamical systems against temporal logic…
A formal description of a Cyber-Physical system should include a rigorous specification of the computational and physical components involved, as well as their interaction. Such a description, thus, lends itself to a compositional model…
Probabilistic Virtual Fixtures (VFs) enable the adaptive selection of the most suitable haptic feedback for each phase of a task, based on learned or perceived uncertainty. While keeping the human in the loop remains essential, for…
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…
This paper studies the synthesis of control policies for an agent that has to satisfy a temporal logic specification in a partially observable environment, in the presence of an adversary. The interaction of the agent (defender) with the…
Complex mechatronic systems are typically composed of interconnected modules, often developed by independent teams. This development process challenges the verification of system specifications before all modules are integrated. To address…
Formal Methods are mathematically-based techniques for software design and engineering, which enable the unambiguous description of and reasoning about a system's behaviour. Autonomous systems use software to make decisions without human…
This paper presents a novel approach to learning from demonstration that enables robots to autonomously execute complex tasks in dynamic environments. We model latent tasks as probabilistic formal languages and introduce a tailored reactive…
Rules or specifications for autonomous vehicles are currently formulated on a case-by-case basis, and put together in a rather ad-hoc fashion. As a step towards eliminating this practice, we propose a systematic procedure for generating a…
In this paper we present a formal framework for analysis and optimisation of the requirements specifications of systems developed to apply in several countries. As different countries typically have different regulations/laws as well as…
We consider robust control synthesis for linear systems with complex specifications that are affected by uncertain disturbances. This work is motivated by autonomous systems interacting with partially known, time-varying environments. Given…
Designing provably safe control is a core problem in trustworthy autonomy. However, most prior work in this regard assumes either that the system dynamics are known or deterministic, or that the state and action space are finite,…
In the last decade it became a common practice to formalise software requirements to improve the clarity of users' expectations. In this work we build on the fact that functional requirements can be expressed in temporal logic and we…
A fundamental concept in control theory is that of controllability, where any system state can be reached through an appropriate choice of control inputs. Indeed, a large body of classical and modern approaches are designed for controllable…
Autonomous Robotics Systems are inherently safety-critical and have complex safety issues to consider (for example, a safety failure can lead to a safety failure). Before they are deployed, these systems of have to show evidence that they…
Machine learning applications frequently come with multiple diverse objectives and constraints that can change over time. Accordingly, trained models can be tuned with sets of hyper-parameters that affect their predictive behavior (e.g.,…