Related papers: On Infusing Reachability-Based Safety Assurance wi…
Uncertainty is prevalent in robotics. Due to measurement noise and complex dynamics, we cannot estimate the exact system and environment state. Since conservative motion planners are not guaranteed to find a safe control strategy in a…
Risk is traditionally described as the expected likelihood of an undesirable outcome, such as collisions for autonomous vehicles. Accurately predicting risk or potentially risky situations is critical for the safe operation of autonomous…
Verifying the correct behavior of robots in contact tasks is challenging due to model uncertainties associated with contacts. Standard methods for testing often fall short since all (uncountable many) solutions cannot be obtained. Instead,…
This paper studies safe driving interactions between Human-Driven Vehicles (HDVs) and Connected and Automated Vehicles (CAVs) in mixed traffic where the dynamics and control policies of HDVs are unknown and hard to predict. In order to…
Hamilton-Jacobi (HJ) reachability is a rigorous mathematical framework that enables robots to simultaneously detect unsafe states and generate actions that prevent future failures. While in theory, HJ reachability can synthesize safe…
While artificial-intelligence-based methods suffer from lack of transparency, rule-based methods dominate in safety-critical systems. Yet, the latter cannot compete with the first ones in robustness to multiple requirements, for instance,…
In this paper, a cooperative decision-making is presented, which is suitable for intention-aware automated vehicle functions. With an increasing number of highly automated and autonomous vehicles on public roads, trust is a very important…
We consider the problem of maximizing distance to road agents for a self-driving car. To this extent, we employ a Model Predictive Control (MPC) approach for the steering tracking control of an Autonomous Vehicle (AV). Specifically, we…
Autonomous driving is among the most promising of upcoming traffic safety technologies. Prototypes of autonomous vehicles are already being tested on public streets today. However, while current prototypes prove the feasibility of truly…
Autonomous driving in complex traffic requires reasoning under uncertainty. Common approaches rely on prediction-based planning or risk-aware control, but these are typically treated in isolation, limiting their ability to capture the…
Safety guarantees in motion planning for autonomous driving typically involve certifying the trajectory to be collision-free under any motion of the uncontrollable participants in the environment, such as the human-driven vehicles on the…
A key challenge to ensuring the rapid transition of robotic systems from the industrial sector to more ubiquitous applications is the development of algorithms that can guarantee safe operation while in close proximity to humans. Motion…
Efficient behavior and trajectory planning is one of the major challenges for automated driving. Especially intersection scenarios are very demanding due to their complexity arising from the variety of maneuver possibilities and other…
Cooperative adaptive cruise control presents an opportunity to improve road transportation through increase in road capacity and reduction in energy use and accidents. Clever design of control algorithms and communication systems is…
Self-driving vehicles are a maturing technology with the potential to reshape mobility by enhancing the safety, accessibility, efficiency, and convenience of automotive transportation. Safety-critical tasks that must be executed by a…
Lane changes are common yet challenging driving maneuvers that require continuous decision-making and dynamic interaction with surrounding vehicles. Relying solely on human drivers for lane-changing can lead to traffic disturbances due to…
We address the security of a network of Connected and Automated Vehicles (CAVs) cooperating to safely navigate through a conflict area (e.g., traffic intersections, merging roadways, roundabouts). Previous studies have shown that such a…
Advances in autonomy offer the potential for dramatic positive outcomes in a number of domains, yet enabling their safe deployment remains an open problem. This work's motivating question is: In safety-critical settings, can we avoid the…
As safety-critical autonomous vehicles (AVs) will soon become pervasive in our society, a number of safety concepts for trusted AV deployment have recently been proposed throughout industry and academia. Yet, achieving consensus on an…
Ensuring the functional safety of motion planning modules in autonomous vehicles remains a critical challenge, especially when dealing with complex or learning-based software. Online verification has emerged as a promising approach to…