Related papers: Formal Specification and Analysis of Autonomous Sy…
The spread of autonomous systems into safety-critical areas has increased the demand for their formal verification, not only due to stronger certification requirements but also to public uncertainty over these new technologies. However, the…
Recent developments in quantum computing suggest that it could be possible to make conditional changes to the state of a quantum mechanical system without resorting to classical observation. It is accomplished through collective response of…
Self-adaptivity allows software systems to autonomously adjust their behavior during run-time to reduce the cost complexities caused by manual maintenance. In this paper, a framework for building an external adaptation engine for…
Semi-autonomous vehicles are increasingly serving critical functions in various settings from mining to logistics to defence. A key characteristic of such systems is the presence of the human (drivers) in the control loop. To ensure safety,…
This work studies the design of safe control policies for large-scale non-linear systems operating in uncertain environments. In such a case, the robust control framework is a principled approach to safety that aims to maximize the…
Achieving safe control under uncertainty is a key problem that needs to be tackled for enabling real-world autonomous robots and cyber-physical systems. This paper introduces Probabilistic Safety Programs (PSP) that embed both the…
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…
Balancing safety and efficiency when planning in crowded scenarios with uncertain dynamics is challenging where it is imperative to accomplish the robot's mission without incurring any safety violations. Typically, chance constraints are…
This contribution deals with identification of fractional-order dynamical systems. System identification, which refers to estimation of process parameters, is a necessity in control theory. Real processes are usually of fractional order as…
Autonomous systems such as self-driving cars rely on sensors to perceive the surrounding world. Measures must be taken against attacks on sensors, which have been a hot topic in the last few years. For that goal one must first evaluate how…
The increasing complexity of software systems and the influence of software-supported decisions in our society have sparked the need for software that is safe, reliable, and fair. Explainability has been identified as a means to achieve…
Precise manipulation tasks require accurate knowledge of payload inertial parameters. Unfortunately, identifying these parameters for unknown payloads while ensuring that the robotic system satisfies its input and state constraints while…
We study the problem of co-designing control barrier functions and linear state feedback controllers for discrete-time linear systems affected by additive disturbances. For disturbances of bounded magnitude, we provide a semi-definite…
We provide finite-sample performance guarantees for control policies executed on stochastic robotic systems. Given an open- or closed-loop policy and a finite set of trajectory rollouts under the policy, we bound the expected value,…
Many systems contain latent variables that make their dynamics partially unidentifiable or cause distribution shifts in the observed statistics between offline and online data. However, existing control techniques often assume access to…
Safety is an important element of dependability. It is defined as the absence of accidents. Most accidents involving software-intensive systems have been system accidents, which are caused by unsafe inter-system or inter-component…
A characteristic of reinforcement learning is the ability to develop unforeseen strategies when solving problems. While such strategies sometimes yield superior performance, they may also result in undesired or even dangerous behavior. In…
A major determinant of the quality of software systems is the quality of their requirements, which should be both understandable and precise. Most requirements are written in natural language, good for understandability but lacking in…
This paper proposes strategies for designing a system whose computational model is subject to aleatory and epistemic uncertainty. Aleatory variables, which are caused by randomness in physical parameters, are draws from a possibly unknown…
Normative non-functional requirements specify constraints that a system must observe in order to avoid violations of social, legal, ethical, empathetic, and cultural norms. As these requirements are typically defined by non-technical system…