Related papers: Using control synthesis to generate corner cases: …
Controller synthesis, including reset controller, feedback controller, and switching logic controller, provides an essential mechanism to guarantee the correctness and reliability of hybrid systems in a correct-by-construction manner.…
Neural networks are powerful tools for data-driven modeling of complex dynamical systems, enhancing predictive capability for control applications. However, their inherent nonlinearity and black-box nature challenge control designs that…
Testing is essential for verifying and validating control designs, especially in safety-critical applications. In particular, the control system governing an automated driving vehicle must be proven reliable enough for its acceptance on the…
Corner case scenarios are an essential tool for testing and validating the safety of autonomous vehicles (AVs). As these scenarios are often insufficiently present in naturalistic driving datasets, augmenting the data with synthetic corner…
The control of complex systems faces a trade-off between high performance and safety guarantees, which in particular restricts the application of learning-based methods to safety-critical systems. A recently proposed framework to address…
In this work, we present a compositional safety controller synthesis approach for the class of discrete-time linear control systems. Here, we leverage a state-of-the-art result on the computation of robust controlled invariant sets. To…
In this paper, we present an approach for designing correct-by-design controllers for cyber-physical systems composed of multiple dynamically interconnected uncertain systems. We consider networked discrete-time uncertain nonlinear systems…
In recent years, formal methods have been extensively used in the design of autonomous systems. By employing mathematically rigorous techniques, formal methods can provide fully automated reasoning processes with provable safety guarantees…
Many correct-by-construction control synthesis methods suffer from the curse of dimensionality. Motivated by this challenge, we seek to reduce a correct-by-construction control synthesis problem to subproblems of more modest dimension. As a…
Recent advances in learning-based perception systems have led to drastic improvements in the performance of robotic systems like autonomous vehicles and surgical robots. These perception systems, however, are hard to analyze and errors in…
The overall goal of this work is to enrich training data for automated driving with so called corner cases. In road traffic, corner cases are critical, rare and unusual situations that challenge the perception by AI algorithms. For this…
We propose novel controller synthesis techniques for probabilistic systems modelled using stochastic two-player games: one player acts as a controller, the second represents its environment, and probability is used to capture uncertainty…
In this article, the problem of synthesizing switching controllers is considered through the synthesis of a "control certificate". Control certificates include control barrier and Lyapunov functions, which represent control strategies, and…
This paper is concerned with the design of control policies from example datasets. The case considered is when just a black box description of the system to be controlled is available and the system is affected by actuation constraints.…
Verified controller synthesis uses world models that comprise all potential behaviours of humans, robots, further equipment, and the controller to be synthesised. A world model enables quantitative risk assessment, for example, by…
In recent years, there has been significant development of autonomous vehicle (AV) technologies. However, despite the notable achievements of some industry players, a strong and appealing body of evidence that demonstrate AVs are actually…
Safety-critical corner cases, difficult to collect in the real world, are crucial for evaluating end-to-end autonomous driving. Adversarial interaction is an effective method to generate such safety-critical corner cases. While existing…
Testing and evaluation is a crucial step in the development and deployment of Connected and Automated Vehicles (CAVs). To comprehensively evaluate the performance of CAVs, it is of necessity to test the CAVs in safety-critical scenarios,…
In this paper, we develop a method for computing controlled invariant sets using Semidefinite Programming. We apply our method to the controller design problem for switching affine systems with polytopic safe sets. The task is reduced to a…
This paper introduces the notion of control closure certificates to synthesize controllers for discrete-time control systems against $\omega$-regular specifications. Typical functional approaches to synthesize controllers against…