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Automated driving systems (ADSs) promise a safe, comfortable and efficient driving experience. However, fatalities involving vehicles equipped with ADSs are on the rise. The full potential of ADSs cannot be realized unless the robustness of…
Autonomous systems are emerging in many application domains. With the recent advancements in artificial intelligence and machine learning, sensor technology, perception algorithms and robotics, scenarios previously requiring strong human…
The complexity of the operating environment and required technologies for highly automated driving is unprecedented. A different type of threat to safe operation besides the fault-error-failure model by Laprie et al. arises in the form of…
Automated driving (AD) is promising, but the transition to fully autonomous driving is, among other things, subject to the real, ever-changing open world and the resulting challenges. However, research in the field of AD demonstrates the…
Safety-critical Autonomous Systems require trustworthy and transparent decision-making process to be deployable in the real world. The advancement of Machine Learning introduces high performance but largely through black-box algorithms. We…
Reparable systems are systems that are characterized by their ability to undergo maintenance actions when failures occur. These systems are often described by transport equations, all coupled through an integro-differential equation. In…
Developing safe autonomous driving systems is a major scientific and technical challenge. Existing AI-based end-to-end solutions do not offer the necessary safety guarantees, while traditional systems engineering approaches are defeated by…
In this paper, we consider a hierarchical control problem with model uncertainty. Specifically, we consider the following objectives that we would like to accomplish. The first one being of a controllability-type that consists of…
Moral responsibility is a major concern in autonomous systems, with applications ranging from self-driving cars to kidney exchanges. Although there have been recent attempts to formalise responsibility and blame, among similar notions, the…
This work studies the design of safe control policies for large-scale non-linear systems operating in uncertain environments. In such a case, the robust control framework is a principled approach to safety that aims to maximize the…
The technology in the area of automated vehicles is gaining speed and promises many advantages. However, with the recent introduction of conditionally automated driving, we have also seen accidents. Test protocols for both, conditionally…
Autonomous driving vehicles provide a vast potential for realizing use cases in the on-road and off-road domains. Consequently, remarkable solutions exist to autonomous systems' environmental perception and control. Nevertheless, proof of…
Ensuring safe autonomy is crucial for deploying aerial robots in real-world applications. However, safety is a multifaceted challenge that must be addressed from multiple perspectives, including navigation in dynamic environments, operation…
Vehicle safety depends on (a) the range of identified hazards and (b) the operational situations for which mitigations of these hazards are acceptably decreasing risk. Moreover, with an increasing degree of autonomy, risk ownership is…
This chapter focuses on the self-driving technology from a control perspective and investigates the control strategies used in autonomous vehicles and advanced driver-assistance systems from both theoretical and practical viewpoints. First,…
We discuss some of the challenges facing shared autonomy. In particular, we explore 1) shared autonomy over unreliable networks, 2) how we can model individual human operators (in contrast to the average of a human operator), and 3) how our…
Adjustable autonomy refers to entities dynamically varying their own autonomy, transferring decision-making control to other entities (typically agents transferring control to human users) in key situations. Determining whether and when…
Automated vehicles have received much attention recently, particularly the DARPA Urban Challenge vehicles, Google's self-driving cars, and various others from auto manufacturers. These vehicles have the potential to significantly reduce…
Accountability is an often called for property of technical systems. It is a requirement for algorithmic decision systems, autonomous cyber-physical systems, and for software systems in general. As a concept, accountability goes back to the…
A significant problem in designing mobile robot control systems involves coping with the uncertainty that arises in moving about in an unknown or partially unknown environment and relying on noisy or ambiguous sensor data to acquire…