Related papers: Formal Test Synthesis for Safety-Critical Autonomo…
This paper addresses the challenge of integrating explicit hard constraints into the control barrier function (CBF) framework for ensuring safety in autonomous systems, including robots. We propose a novel data-driven method to derive CBFs…
In this paper, we address the real-time risk-bounded safety verification problem of continuous-time state trajectories of autonomous systems in the presence of uncertain time-varying nonlinear safety constraints. Risk is defined as the…
A computational system is called autonomous if it is able to make its own decisions, or take its own actions, without human supervision or control. The capability and spread of such systems have reached the point where they are beginning to…
Pedestrians' safety is a crucial factor in assessing autonomous driving scenarios. However, pedestrian safety evaluation is rarely considered by existing autonomous driving simulation platforms. This paper proposes a pedestrian safety…
Discrete-time Control Barrier Functions (DTCBFs) have recently attracted interest for guaranteeing safety and synthesizing safe controllers for discrete-time dynamical systems. This paper addresses the open challenges of verifying candidate…
Autonomous robotic systems are complex, hybrid, and often safety-critical; this makes their formal specification and verification uniquely challenging. Though commonly used, testing and simulation alone are insufficient to ensure the…
We present a novel technique for online safety verification of autonomous systems, which performs reachability analysis efficiently for both bounded and unbounded horizons by employing neural barrier certificates. Our approach uses barrier…
The full deployment of autonomous driving systems on a worldwide scale requires that the self-driving vehicle be operated in a provably safe manner, i.e., the vehicle must be able to avoid collisions in any possible traffic situation. In…
Recent advances in learning-based perception systems have led to drastic improvements in the performance of robotic systems like autonomous vehicles and surgical robots. These perception systems, however, are hard to analyze and errors in…
Safety filters based on Control Barrier Functions (CBFs) have emerged as a practical tool for the safety-critical control of autonomous systems. These approaches encode safety through a value function and enforce safety by imposing a…
Safety validation of autonomous driving systems is extremely challenging due to the high risks and costs of real-world testing as well as the rarity and diversity of potential failures. To address these challenges, we train a denoising…
This paper is concerned with a compositional scheme for the construction of control barrier certificates for interconnected discrete-time stochastic systems. The main objective is to synthesize switching control policies against…
The verification and validation of automated and autonomous driving systems impose a major challenge, especially the identification of suitable test scenarios. This work presents a methodology that adopts metaheuristic search to optimize…
We present a new approach to conformance testing of black-box reactive systems. We consider system specifications written as linear temporal logic formulas to generate tests as sequences of input/output pairs: inputs are extracted from the…
This paper is concerned with a compositional approach for the construction of control barrier certificates for large-scale interconnected stochastic systems while synthesizing hybrid controllers against high-level logic properties. Our…
In this work, we propose a compositional framework for the construction of control barrier functions for networks of continuous-time stochastic hybrid systems enforcing complex logic specifications expressed by finite-state automata. The…
Autonomous Driving (AD) systems demand the high levels of safety assurance. Despite significant advancements in AD demonstrated on open-source benchmarks like Longest6 and Bench2Drive, existing datasets still lack regulatory-compliant…
This paper aims at the safety-critical control synthesis of network systems such that the satisfaction of the safety constraints can be guaranteed. To handle the large state dimension of such systems, an assume-guarantee contract is used to…
A barrier certificate often serves as an inductive invariant that isolates an unsafe region from the reachable set of states, and hence is widely used in proving safety of hybrid systems possibly over the infinite time horizon. We present a…
We consider the problem of synthesizing safe-by-design control strategies for semi-autonomous systems. Our aim is to address situations when safety cannot be guaranteed solely by the autonomous, controllable part of the system and a certain…