Related papers: Modeling Perception Errors towards Robust Decision…

Autonomous and semi-autonomous vehicles' perception algorithms can encounter situations with erroneous object detection, such as misclassification of objects on the road, which can lead to safety violations and potentially fatal…

Even though virtual testing of Autonomous Vehicles (AVs) has been well recognized as essential for safety assessment, AV simulators are still undergoing active development. One particularly challenging question is to effectively include the…

In autonomous driving, perception systems are piv otal as they interpret sensory data to understand the envi ronment, which is essential for decision-making and planning. Ensuring the safety of these perception systems is fundamental for…

This paper investigates runtime monitoring of perception systems. Perception is a critical component of high-integrity applications of robotics and autonomous systems, such as self-driving cars. In these applications, failure of perception…

Autonomous cars have to navigate in dynamic environment which can be full of uncertainties. The uncertainties can come either from sensor limitations such as occlusions and limited sensor range, or from probabilistic prediction of other…

Perception algorithms that provide estimates of their uncertainty are crucial to the development of autonomous robots that can operate in challenging and uncontrolled environments. Such perception algorithms provide the means for having…

Autonomous vehicles rely heavily upon their perception subsystems to see the environment in which they operate. Unfortunately, the effect of variable weather conditions presents a significant challenge to object detection algorithms, and…

Extensive evaluation of perception systems is crucial for ensuring the safety of intelligent vehicles in complex driving scenarios. Conventional performance metrics such as precision, recall and the F1-score assess the overall detection…

Autonomous Systems (AS) are increasingly proposed, or used, in Safety Critical (SC) applications. Many such systems make use of sophisticated sensor suites and processing to provide scene understanding which informs the AS' decision-making.…

The viability of automated driving is heavily dependent on the performance of perception systems to provide real-time accurate and reliable information for robust decision-making and maneuvers. These systems must perform reliably not only…

We present a novel method for testing the safety of self-driving vehicles in simulation. We propose an alternative to sensor simulation, as sensor simulation is expensive and has large domain gaps. Instead, we directly simulate the outputs…

Safety is a long-standing and the final pursuit in the development of autonomous driving systems, with a significant portion of safety challenge arising from perception. How to effectively evaluate the safety as well as the reliability of…

When considering the accuracy of sensors in an automated vehicle (AV), it is not sufficient to evaluate the performance of any given sensor in isolation. Rather, the performance of any individual sensor must be considered in the context of…

Perception serves as a critical component in the functionality of autonomous agents. However, the intricate relationship between perception metrics and robotic metrics remains unclear, leading to ambiguity in the development and fine-tuning…

As robots aspire for long-term autonomous operations in complex dynamic environments, the ability to reliably take mission-critical decisions in ambiguous situations becomes critical. This motivates the need to build systems that have…

Testing black-box perceptual-control systems in simulation faces two difficulties. Firstly, perceptual inputs in simulation lack the fidelity of real-world sensor inputs. Secondly, for a reasonably accurate perception system, encountering a…

Perception is a critical component of high-integrity applications of robotics and autonomous systems, such as self-driving vehicles. In these applications, failure of perception systems may put human life at risk, and a broad adoption of…

The autonomous car technology promises to replace human drivers with safer driving systems. But although autonomous cars can become safer than human drivers this is a long process that is going to be refined over time. Before these vehicles…

Perception is a critical component of high-integrity applications of robotics and autonomous systems, such as self-driving cars. In these applications, failure of perception systems may put human life at risk, and a broad adoption of these…

Motivated by vision-based control of autonomous vehicles, we consider the problem of controlling a known linear dynamical system for which partial state information, such as vehicle position, is extracted from complex and nonlinear data,…