Related papers: Formal Test Synthesis for Safety-Critical Autonomo…
Control Barrier Functions (CBFs) have become a popular tool for enforcing set invariance in safety-critical control systems. While guaranteeing safety, most CBF approaches are myopic in the sense that they solve an optimization problem at…
Autonomous cyber-physical systems (CPS) can improve safety and efficiency for safety-critical applications, but require rigorous testing before deployment. The complexity of these systems often precludes the use of formal verification and…
This paper presents a scenario generation framework that creates diverse, parametrized, and safety-critical driving situations to validate the safety features of autonomous vehicles in simulation [15]. By modeling factors such as road…
Extracting interesting scenarios from real-world data as well as generating failure cases is important for the development and testing of autonomous systems. We propose efficient mechanisms to both characterize and generate testing…
Safe control with guarantees generally requires the system model to be known. It is far more challenging to handle systems with uncertain parameters. In this paper, we propose a generic algorithm that can synthesize and verify safe…
A typical scenario-based evaluation framework seeks to characterize a black-box system's safety performance (e.g., failure rate) through repeatedly sampling initialization configurations (scenario sampling) and executing a certain test…
Verified controller synthesis uses world models that comprise all potential behaviours of humans, robots, further equipment, and the controller to be synthesised. A world model enables quantitative risk assessment, for example, by…
We present a tool-supported approach for the synthesis, verification and validation of the control software responsible for the safety of the human-robot interaction in manufacturing processes that use collaborative robots. In human-robot…
This paper presents a novel approach for the safe control design of systems with parametric uncertainties in both drift terms and control-input matrices. The method combines control barrier functions and adaptive laws to generate a safe…
Autonomous systems use independent decision-making with only limited human intervention to accomplish goals in complex and unpredictable environments. As the autonomy technologies that underpin them continue to advance, these systems will…
In this paper, we present an algorithm for synthesizing certificates---so-called barrier certificates---for safety of hybrid dynamical systems. Unlike the usual approach of using constraint solvers to compute the certificate from the system…
This scientific publication focuses on the efficient application of boundary value analysis in the testing of corner cases for kinematic-based safety-critical driving scenarios within the domain of autonomous driving. Corner cases, which…
Autonomous systems such as self-driving cars rely on sensors to perceive the surrounding world. Measures must be taken against attacks on sensors, which have been a hot topic in the last few years. For that goal one must first evaluate how…
Ensuring the safety of autonomous vehicles (AVs) is the key requisite for their acceptance in society. This complexity is the core challenge in formally proving their safety conditions with AI-based black-box controllers and surrounding…
Formal methods refer to rigorous, mathematical approaches to system development and have played a key role in establishing the correctness of safety-critical systems. The main building blocks of formal methods are models and specifications,…
Collision-free motion is a fundamental requirement for many autonomous systems. This paper develops a safety-critical control approach for the collision-free navigation of polytope-shaped agents in polytope-shaped environments. A systematic…
Testing of autonomous systems is extremely important as many of them are both safety-critical and security-critical. The architecture and mechanism of such systems are fundamentally different from traditional control software, which appears…
Testing is essential for verifying and validating control designs, especially in safety-critical applications. In particular, the control system governing an automated driving vehicle must be proven reliable enough for its acceptance on the…
In this paper, we investigate formal test-case generation for high-level mission objectives, specifically reachability, of autonomous systems. We use Kripke structures to represent the high-level decision-making of the agent under test and…
In this paper, we propose a compositional framework for the synthesis of safety controllers for networks of partially-observed discrete-time stochastic control systems (a.k.a. continuous-space POMDPs). Given an estimator, we utilize a…