Related papers: Fast Safety Assessment and Correction Framework fo…
To enhance the safety of Maritime Autonomous Surface Ships (MASS) navigating in restricted waters, this paper aims to develop a geometric analysis-based route safety assessment (GARSA) framework, specifically designed for their route…
Maritime domain awareness is critical for protecting sea lanes, ports, harbors, offshore structures and critical infrastructures against common threats and illegal activities. Limited surveillance resources constrain maritime domain…
Cyber-physical systems for robotic surgery have enabled minimally invasive procedures with increased precision and shorter hospitalization. However, with increasing complexity and connectivity of software and major involvement of human…
We design persistent surveillance strategies for the quickest detection of anomalies taking place in an environment of interest. From a set of predefined regions in the environment, a team of autonomous vehicles collects noisy observations,…
Safe control techniques, such as Hamilton-Jacobi reachability, provide principled methods for synthesizing safety-preserving robot policies but typically assume hand-designed state spaces and full observability. Recent work has relaxed…
One of the critical challenges in automated driving is ensuring safety of automated vehicles despite the unknown behavior of the other vehicles. Although motion prediction modules are able to generate a probability distribution associated…
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…
Autonomous driving technology can improve traffic safety and reduce traffic accidents. In addition, it improves traffic flow, reduces congestion, saves energy and increases travel efficiency. In the relatively mature automatic driving…
Autonomous agents rely on sensor data to construct representations of their environments, essential for predicting future events and planning their actions. However, sensor measurements suffer from limited range, occlusions, and sensor…
We propose a new inference framework, named MOSAIC, for change-point detection in dynamic networks with the simultaneous low-rank and sparse-change structure. We establish the minimax rate of detection boundary, which relies on the sparsity…
Our transportation world is rapidly transforming induced by an ever increasing level of autonomy. However, to obtain license of fully automated vehicles for widespread public use, it is necessary to assure safety of the entire system, which…
Radar sensors play a crucial role for perception systems in automated driving but suffer from a high level of noise. In the past, this could be solved by strict filters, which remove most false positives at the expense of undetected…
Autonomous Cyber-Physical Systems must often operate under uncertainties like sensor degradation and shifts in the operating conditions, which increases its operational risk. Dynamic Assurance of these systems requires designing runtime…
In this paper, we introduce the notion of periodic safety, which requires that the system trajectories periodically visit a subset of a forward-invariant safe set, and utilize it in a multi-rate framework where a high-level planner…
A control system verification framework is presented for unmanned aerial vehicles using theorem proving. The framework's aim is to set out a procedure for proving that the mathematically designed control system of the aircraft satisfies…
The rapid advancements in autonomous vehicle (AV) technology promise enhanced safety and operational efficiency. However, frequent lane changes and merging maneuvers continue to pose significant safety risks and disrupt traffic flow. This…
Data-driven models (DDM) based on machine learning and other AI techniques play an important role in the perception of increasingly autonomous systems. Due to the merely implicit definition of their behavior mainly based on the data used…
This paper addresses the fast replanning problem in dynamic environments with moving obstacles. Since for randomly moving obstacles the future states are unpredictable, the proposed method, called SMARRT, reacts to obstacle motions and…
Autonomous vehicles (AV) look set to become common on our roads within the next few years. However, to achieve the final breakthrough, not only functional progress is required, but also satisfactory safety assurance must be provided. Among…
In this paper, a method to detect environmental hazards related to a fall risk using a mobile vision system is proposed. First-person perspective videos are proposed to provide objective evidence on cause and circumstances of perturbed…