Related papers: Safety Model Checking with Complementary Approxima…
An open question in autonomous driving is how best to use simulation to validate the safety of autonomous vehicles. Existing techniques rely on simulated rollouts, which can be inefficient for finding rare failure events, while other…
Establishing reliable image correspondences is essential for many robotic vision problems. However, existing methods often struggle in challenging scenarios with large viewpoint changes or textureless regions, where incorrect cor-…
Ensuring safety for vehicle overtaking systems is one of the most fundamental and challenging tasks in autonomous driving. This task is particularly intricate when the vehicle must not only overtake its front vehicle safely but also…
The increasing demand for connectivity in safety-critical domains has made security assurance a crucial consideration. In safety-critical industry, software, and connectivity have become integral to meeting market expectations. Regulatory…
Action anticipation, intent prediction, and proactive behavior are all desirable characteristics for autonomous driving policies in interactive scenarios. Paramount, however, is ensuring safety on the road -- a key challenge in doing so is…
Model counting, or counting the satisfying assignments of a Boolean formula, is a fundamental problem with diverse applications. Given #P-hardness of the problem, developing algorithms for approximate counting is an important research area.…
Perceived risk is crucial in designing trustworthy and acceptable vehicle automation systems. However, our understanding of its dynamics is limited, and models for perceived risk dynamics are scarce in the literature. This study formulates…
Recent years have seen significant advances in using formal verification to check hardware security properties. Of particular practical interest are checking confidentiality and integrity of secrets, by checking that there is no information…
Human-driven vehicles (HVs) exhibit complex and diverse behaviors. Accurately modeling such behavior is crucial for validating Robot Vehicles (RVs) in simulation and realizing the potential of mixed traffic control. However, existing…
This paper proposes a novel framework for safety-critical optimal trajectory tracking in nonlinear systems based on the state-dependent Riccati equation (SDRE) methodology. By embedding barrier states into the system dynamics, the proposed…
Inspection of underwater structures with tethered underwater vehicles is often hindered by the risk of tether entanglement. We propose REACT (real-time entanglement-aware coverage path planning for tethered underwater vehicles), a framework…
Learning-based approaches for controlling safety-critical systems are rapidly growing in popularity; thus, it is important to assure their performance and safety. Hamilton-Jacobi (HJ) reachability analysis is a popular formal verification…
A new taxonomy of issues related to CAD model quality is presented, which distinguishes between explicit and procedural models. For each type of model, morphologic, syntactic, and semantic errors are characterized. The taxonomy was…
Despite large advances in recent years, real-time capable motion planning for autonomous road vehicles remains a huge challenge. In this work, we present a decision module that is based on set-based reachability analysis: First, we identify…
Crash consistency is essential for applications that must persist data. Crash-consistency testing has been commonly applied to find crash-consistency bugs in applications. The crash-state space grows exponentially as the number of…
Most risk analysis models systematically underestimate the probability and impact of catastrophic events (e.g., economic crises, natural disasters, and terrorism) by not taking into account interconnectivity and interdependence of risks. To…
As engineered systems expand, become more interdependent, and operate in real-time, reliability assessment is indispensable to support investment and decision making. However, network reliability problems are known to be #P-complete, a…
An autonomous AI ecosystem (SUBSTRATE S3), generating product specifications without explicit instructions about formal methods, independently proposed the use of Z3 SMT solver across six distinct domains of AI safety: verification of…
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…
The decision logic for the ACAS X family of aircraft collision avoidance systems is represented as a large numeric table. Due to storage constraints of certified avionics hardware, neural networks have been suggested as a way to…