Related papers: Towards Data-Driven Synthesis of Autonomous Vehicl…
Reachability analysis is an important method in providing safety guarantees for systems with unknown or uncertain dynamics. Due to the computational intractability of exact reachability analysis for general nonlinear, high-dimensional…
This paper describes a novel method for allowing an autonomous ground vehicle to predict the intent of other agents in an urban environment. This method, termed the cognitive driving framework, models both the intent and the potentially…
An open problem for autonomous driving is how to validate the safety of an autonomous vehicle in simulation. Automated testing procedures can find failures of an autonomous system but these failures may be difficult to interpret due to…
This research paper delves into the field of autonomous vehicle technology, examining the vulnerabilities inherent in each component of these transformative vehicles. Autonomous vehicles (AVs) are revolutionizing transportation by…
Autonomous driving has made significant progress in both academia and industry, including performance improvements in perception task and the development of end-to-end autonomous driving systems. However, the safety and robustness…
Fully autonomous vehicles (AVs) continue to spark immense global interest, yet predictions on when they will operate safely and broadly remain heavily debated. This paper synthesizes two distinct research traditions: computational…
Collaboration in multi-agent autonomous systems is critical to increase performance while ensuring safety. However, due to heterogeneity of their features in, e.g., perception qualities, some autonomous systems have to be considered more…
We consider the problem of planning trajectories for a group of $N$ vehicles, each aiming to reach its own target set while avoiding danger zones of other vehicles. The analysis of problems like this is extremely important practically,…
With the rapid advancement of autonomous vehicle (AV) technology, AVs are progressively seen as interactive agents with some level of autonomy, as well as some context-dependent social features. This introduces new challenges and questions,…
Autonomous vehicles (AVs) promise efficient, clean and cost-effective transportation systems, but their reliance on sensors, wireless communications, and decision-making systems makes them vulnerable to cyberattacks and physical threats.…
Designing provably safe control is a core problem in trustworthy autonomy. However, most prior work in this regard assumes either that the system dynamics are known or deterministic, or that the state and action space are finite,…
When autonomous vehicles still struggle to solve challenging situations during on-road driving, humans have long mastered the essence of driving with efficient transferable and adaptable driving capability. By mimicking humans' cognition…
Provably safe and scalable multi-vehicle path planning is an important and urgent problem due to the expected increase of automation in civilian airspace in the near future. Hamilton-Jacobi (HJ) reachability is an ideal tool for analyzing…
Autonomous driving is a highly anticipated approach toward eliminating roadway fatalities. At the same time, the bar for safety is both high and costly to verify. This work considers the role of remotely-located human operators supervising…
Safe multi-agent motion planning (MAMP) under task-induced constraints is a critical challenge in robotics. Many real-world scenarios require robots to navigate dynamic environments while adhering to manifold constraints imposed by tasks.…
Autonomous vehicles (AVs) have significantly advanced in real-world deployment in recent years, yet safety continues to be a critical barrier to widespread adoption. Traditional functional safety approaches, which primarily verify the…
The autonomous car technology promises to replace human drivers with safer driving systems. But although autonomous cars can become safer than human drivers this is a long process that is going to be refined over time. Before these vehicles…
This paper frames recent publications from Waymo within the broader context of the safety readiness determination for an Automated Driving System (ADS). Starting from a brief overview of safety performance outcomes reported by Waymo (i.e.,…
Advances in autonomy offer the potential for dramatic positive outcomes in a number of domains, yet enabling their safe deployment remains an open problem. This work's motivating question is: In safety-critical settings, can we avoid the…
Semi-autonomous vehicles are increasingly serving critical functions in various settings from mining to logistics to defence. A key characteristic of such systems is the presence of the human (drivers) in the control loop. To ensure safety,…