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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…
Designing hierarchical reinforcement learning algorithms that exhibit safe behaviour is not only vital for practical applications but also, facilitates a better understanding of an agent's decisions. We tackle this problem in the options…
A major challenge in autonomous vehicle research is modeling agent behaviors, which has critical applications including constructing realistic and reliable simulations for off-board evaluation and forecasting traffic agents motion for…
Path planning is an essential component of autonomous driving. A global planner is responsible for the high-level planning. It basically performs a shortest-path search on a known map, thereby defining waypoints used to control the local…
Efficient trajectory planning for urban intersections is currently one of the most challenging tasks for an Autonomous Vehicle (AV). Courteous behavior towards other traffic participants, the AV's comfort and its progression in the…
Technology development efforts in autonomy and cyber-defense have been evolving independently of each other, over the past decade. In this paper, we report our ongoing effort to integrate these two presently distinct areas into a single…
State-of-the-art driver-assist systems have failed to effectively mitigate driver inattention and had minimal impacts on the ever-growing number of road mishaps (e.g. life loss, physical injuries due to accidents caused by various factors…
Game theory provides a framework for studying communication dynamics and emergent phenomena arising from rational agent interactions. We present a model framework for the Volunteer's Dilemma with four key contributions: (1) formulating it…
With progress in enabling autonomous cars to drive safely on the road, it is time to start asking how they should be driving. A common answer is that they should be adopting their users' driving style. This makes the assumption that users…
Security of (semi)-autonomous vehicles is a growing concern, first, due to the increased exposure of the functionality to the potential attackers; second, due to the reliance of car functionalities on diverse (semi)-autonomous systems;…
Accurately predicting the possible behaviors of traffic participants is an essential capability for autonomous vehicles. Since autonomous vehicles need to navigate in dynamically changing environments, they are expected to make accurate…
The development and deployment of Autonomous Vehicles (AVs) on our roads is not only realistic in the near future but can also bring significant benefits. In particular, it can potentially solve several problems relating to vehicles and…
When learning to act in a stochastic, partially observable environment, an intelligent agent should be prepared to anticipate a change in its belief of the environment state, and be capable of adapting its actions on-the-fly to changing…
We present a novel method for handling uncertainty about the intentions of non-ego players in dynamic games, with application to motion planning for autonomous vehicles. Equilibria in these games explicitly account for interaction among…
Autonomous vehicles rely on accurate trajectory prediction to inform decision-making processes related to navigation and collision avoidance. However, current trajectory prediction models show signs of overfitting, which may lead to unsafe…
There is an increasing necessity to deploy autonomous systems in highly heterogeneous, dynamic environments, e.g. service robots in hospitals or autonomous cars on highways. Due to the uncertainty in these environments, the verification…
Recent work on decision making and planning for autonomous driving has made use of game theoretic methods to model interaction between agents. We demonstrate that methods based on the Stackelberg game formulation of this problem are…
The safe operation of an autonomous system is a complex endeavor, one pivotal element being its decision-making. Decision-making logic can formally be analyzed using model checking or other formal verification approaches. Yet, the…
The mobility of people is at the center of transportation planning and decision-making of the cities of the future. In order to accelerate the transition to zero-emissions and to maximize air quality benefits, smart cities are prioritizing…
We consider the interaction among agents engaging in a driving task and we model it as general-sum game. This class of games exhibits a plurality of different equilibria posing the issue of equilibrium selection. While selecting the most…