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Deep Neural Networks (DNNs) are used in a wide variety of applications. However, as in any software application, DNN-based apps are afflicted with bugs. Previous work observed that DNN bug fix patterns are different from traditional bug fix…

While deep convolutional neural networks (CNNs) are vulnerable to adversarial attacks, considerably few efforts have been paid to construct robust deep tracking algorithms against adversarial attacks. Current studies on adversarial attack…

Deep Neural Networks (DNNs) are becoming widespread, particularly in safety-critical areas. One prominent application is image recognition in autonomous driving, where the correct classification of objects, such as traffic signs, is…

Deep Neural Networks (DNNs) are popularly used for implementing autonomy related tasks in automotive Cyber-Physical Systems (CPSs). However, these networks have been shown to make erroneous predictions to anomalous inputs, which manifests…

Deep Neural Networks (DNN) have emerged as an effective approach to tackling real-world problems. However, like human-written software, DNNs are susceptible to bugs and attacks. This has generated significant interests in developing…

One of the many Autonomous Systems (ASs), such as autonomous driving cars, performs various safety-critical functions. Many of these autonomous systems take advantage of Artificial Intelligence (AI) techniques to perceive their environment.…

Grid maps obtained from fused sensory information are nowadays among the most popular approaches for motion planning for autonomous driving cars. In this paper, we introduce Deep Grid Net (DGN), a deep learning (DL) system designed for…

The last decade witnessed increasingly rapid progress in self-driving vehicle technology, mainly backed up by advances in the area of deep learning and artificial intelligence. The objective of this paper is to survey the current…

Deep learning-based lane detection (LD) plays a critical role in autonomous driving systems, such as adaptive cruise control. However, it is vulnerable to backdoor attacks. Existing backdoor attack methods on LD exhibit limited…

Deep neural networks (DNNs) are known to be vulnerable to adversarial examples. Existing works have mostly focused on either digital adversarial examples created via small and imperceptible perturbations, or physical-world adversarial…

Deep neural networks (DNNs) are increasingly used in real-world applications (e.g. facial recognition). This has resulted in concerns about the fairness of decisions made by these models. Various notions and measures of fairness have been…

Reinforcement learning has steadily improved and outperform human in lots of traditional games since the resurgence of deep neural network. However, these success is not easy to be copied to autonomous driving because the state spaces in…

Dynamic obstacle avoidance on quadrotors requires low latency. A class of sensors that are particularly suitable for such scenarios are event cameras. In this paper, we present a deep learning -- based solution for dodging multiple dynamic…

The testing of Deep Neural Networks (DNNs) has become increasingly important as DNNs are widely adopted by safety critical systems. While many test adequacy criteria have been suggested, automated test input generation for many types of…

Curbs are one of the essential elements of urban and highway traffic environments. Robust curb detection provides road structure information for motion planning in an autonomous driving system. Commonly, video cameras and 3D LiDARs are…

Miniaturized autonomous unmanned aerial vehicles (UAVs) are gaining popularity due to their small size, enabling new tasks such as indoor navigation or people monitoring. Nonetheless, their size and simple electronics pose severe challenges…

Self-driving software pipelines include components that are learned from a significant number of training examples, yet it remains challenging to evaluate the overall system's safety and generalization performance. Together with scaling up…

Deep neural networks (DNNs) are vulnerable to various types of adversarial examples, bringing huge threats to security-critical applications. Among these, adversarial patches have drawn increasing attention due to their good applicability…

Autonomous agile flight brings up fundamental challenges in robotics, such as coping with unreliable state estimation, reacting optimally to dynamically changing environments, and coupling perception and action in real time under severe…

This paper studies the reliability of a real-world learning-enabled system, which conducts dynamic vehicle tracking based on a high-resolution wide-area motion imagery input. The system consists of multiple neural network components -- to…