Related papers: On the Verification and Validation of AI Navigatio…
We demonstrate a unified approach to rigorous design of safety-critical autonomous systems using the VerifAI toolkit for formal analysis of AI-based systems. VerifAI provides an integrated toolchain for tasks spanning the design process,…
Simulations are highly valuable in marine robotics, offering a cost-effective and controlled environment for testing in the challenging conditions of underwater and surface operations. Given the high costs and logistical difficulties of…
Automated Vehicles (AVs) are rapidly maturing in the transportation domain. However, the complexity of the AV design problem is such that no single technique is sufficient to provide adequate validation of key properties such as safety,…
Verification and validation are major challenges for developing automated driving systems. A concept that gets more and more recognized for testing in automated driving is scenario-based testing. However, it introduces the problem of what…
Safety and mission performance validation of autonomous vehicles (AVs) is a major challenge. In this paper we describe a methodology for constructing and applying assertion checks to validate the behaviour of an AV operating either in…
The recent adoption of the Robot Operating System (ROS) as a software standard in robotics has contributed to novel solutions for several problems on the area. One such problem is known as Simultaneous Localization and Mapping (SLAM) with…
Simultaneous localization and mapping, especially the one relying solely on video data (vSLAM), is a challenging problem that has been extensively studied in robotics and computer vision. State-of-the-art vSLAM algorithms are capable of…
Cyber-resilience is an increasing concern in developing autonomous navigation solutions for marine vessels. This paper scrutinizes cyber-resilience properties of marine navigation through a prism with three edges: multiple sensor…
This paper presents a reliable method to verify the existence of loops along the uncertain trajectory of a robot, based on proprioceptive measurements only, within a bounded-error context. The loop closure detection is one of the key points…
Obstacle avoidance is an important task in the field of robotics, since the goal of autonomous robot is to reach the destination without collision. Several algorithms have been proposed for obstacle avoidance, having drawbacks and benefits.…
The increasing use of autonomous and semi-autonomous agents in society has made it crucial to validate their safety. However, the complex scenarios in which they are used may make formal verification impossible. To address this challenge,…
A major challenge to deploying robots widely is navigation in human-populated environments, commonly referred to as social robot navigation. While the field of social navigation has advanced tremendously in recent years, the fair evaluation…
Neural networks are increasingly applied to support decision making in safety-critical applications (like autonomous cars, unmanned aerial vehicles and face recognition based authentication). While many impressive static verification…
In recent years, maritime safety and efficiency become more and more important across the world. Automatic Identification System (AIS) tracks vessel movement by onboard transceiver and terrestrial and/or satellite base station. The data…
Urban environments offer a challenging scenario for autonomous driving. Globally localizing information, such as a GPS signal, can be unreliable due to signal shadowing and multipath errors. Detailed a priori maps of the environment with…
As drones and autonomous cars become more widespread it is becoming increasingly important that robots can operate safely under realistic conditions. The noisy information fed into real systems means that robots must use estimates of the…
Automated driving functions (ADFs) have become increasingly popular in recent years. However, their safety must be assured. Thus, the verification and validation of these functions is still an important open issue in research and…
A fundamental prerequisite for safe and efficient navigation of mobile robots is the availability of reliable navigation maps upon which trajectories can be planned. With the increasing industrial interest in mobile robotics, especially in…
Autonomous surface vessels (ASVs) play an increasingly important role in the safety and sustainability of open sea operations. Since most maritime accidents are related to human failure, intelligent algorithms for autonomous collision…
Autonomous systems -- such as self-driving cars, autonomous drones, and automated trains -- must come with strong safety guarantees. Over the past decade, techniques based on formal methods have enjoyed some success in providing strong…