Related papers: Reachability-Based Safety Guarantees using Efficie…
Heating, Ventilation, and Air Conditioning (HVAC) systems account for approximately 38% of building energy consumption globally, making them one of the most energy-intensive services. The increasing emphasis on energy efficiency and…
Autonomous vehicles must navigate dynamically uncertain environments while balancing safety and efficiency. This challenge is exacerbated by unpredictable human-driven vehicle (HV) behaviors and perception inaccuracies, necessitating…
Safety, reliability, and user trust are crucial in human-robot interaction (HRI) where the robots must address hazards in real-time. This study presents hazard driven low-level control strategies implemented in robot-assisted dressing (RAD)…
In this work, we propose an approach for ensuring the safety of vehicles passing through an intelligent intersection. There are many proposals for the design of intelligent intersections that introduce central decision-makers to…
This paper presents optimizations to improve the scalability of reachability analysis on a subclass of hybrid automata extended with stochasticity. The optimizations target different components of the analysis, such as quantifier…
Neural Networks (NNs) can provide major empirical performance improvements for closed-loop systems, but they also introduce challenges in formally analyzing those systems' safety properties. In particular, this work focuses on estimating…
Reachable sets for a dynamical system describe collections of system states that can be reached in finite time, subject to system dynamics. They can be used to guarantee goal satisfaction in controller design or to verify that unsafe…
Ensuring safety for human-interactive robotics is important due to the potential for human injury. The key challenge is defining safety in a way that accounts for the complex range of human behaviors without modeling the human as an…
Corrigibility is a safety property for artificially intelligent agents. A corrigible agent will not resist attempts by authorized parties to alter the goals and constraints that were encoded in the agent when it was first started. This…
The deployment of Large Language Models (LLMs) in robotic systems presents unique safety challenges, particularly in unpredictable environments. Although LLMs, leveraging zero-shot learning, enhance human-robot interaction and…
Reachability analysis plays a central role in system design and verification. The reachability problem, denoted $\Diamond^J\,\Phi$, asks whether the system will meet the property $\Phi$ after some time in a given time interval $J$.…
Objective: In a companion paper, we propose a parametric hybrid automaton model and an algorithm for the online synthesis of robustly correct and near-optimal controllers for cyber-physical system with reach-avoid guarantees. A key part of…
Reachability computations that rely on learned or estimated models require calibration in order to uphold confidence about their guarantees. Calibration generally involves sampling scenarios inside the reachable set. However, producing…
The goal of this book is to present new mathematical techniques for studying the behaviour of mean-field systems with disordered interactions. We mostly focus on certain problems of statistical inference in high dimension, and on spin…
The need to increase the flexibility of production lines is calling for robots to collaborate with human workers. However, existing interactive industrial robots only guarantee intrinsic safety (reduce collision impact), but not interactive…
A novel method for computing reachable sets is proposed in this paper. In the proposed method, a Hamilton-Jacobi-Bellman equation with running cost functionis numerically solved and the reachable sets of different time horizons are…
Performance testing aims at uncovering efficiency issues of software systems. In order to be both effective and practical, the design of a performance test must achieve a reasonable trade-off between result quality and testing time. This…
Autonomous systems operating in close proximity with each other to cover a specified area has many potential applications, but to achieve effective coordination, two key challenges need to be addressed: coordination and safety. For…
This paper focuses on safety performance testing and characterization of black-box highly automated vehicles (HAV). Existing testing approaches typically obtain the testing outcomes by deploying the HAV into a specific testing environment.…
Human-Object Interaction (HOI) detection has seen substantial advances in recent years. However, existing works focus on the standard setting with ideal images and natural distribution, far from practical scenarios with inevitable…