Related papers: Runtime Safety Assurance for Learning-enabled Cont…

Robust control of mechanical systems with multiple uncertainties remains a fundamental challenge, particularly when nonlinear dynamics and operating-condition variations are intricately intertwined. Although deep reinforcement learning…

Designing a controller for autonomous vehicles capable of providing adequate performance in all driving scenarios is challenging due to the highly complex environment and inability to test the system in the wide variety of scenarios which…

Reinforcement learning-based traffic signal control (RL-TSC) has emerged as a promising approach for improving urban mobility. However, its robustness under real-world disruptions such as traffic incidents remains largely underexplored. In…

Navigating urban intersections, especially when interacting with heterogeneous traffic participants, presents a formidable challenge for autonomous vehicles (AVs). In such environments, safety risks arise simultaneously from multiple…

Reinforcement learning (RL) has shown great promise in simulated environments, such as games, where failures have minimal consequences. However, the deployment of RL agents in real-world systems such as autonomous vehicles, robotics, UAVs,…

Perception, Planning, and Control form the essential components of autonomy in advanced air mobility. This work advances the holistic integration of these components to enhance the performance and robustness of the complete cyber-physical…

Reinforcement Learning (RL) is a powerful method for controlling dynamic systems, but its learning mechanism can lead to unpredictable actions that undermine the safety of critical systems. Here, we propose RL with Adaptive Regularization…

Human-driven vehicles (HVs) amplify naturally occurring perturbations in traffic, leading to congestion--a major contributor to increased fuel consumption, higher collision risks, and reduced road capacity utilization. While previous…

Reinforcement learning (RL) has shown considerable potential in autonomous driving (AD), yet its vulnerability to perturbations remains a critical barrier to real-world deployment. As a primary countermeasure, adversarial training improves…

This paper proposes an on-policy reinforcement learning (RL) control algorithm that solves the optimal regulation problem for a class of uncertain continuous-time nonlinear systems under user-defined state constraints. We formulate the safe…

Machine learning can provide efficient solutions to the complex problems encountered in autonomous driving, but ensuring their safety remains a challenge. A number of authors have attempted to address this issue, but there are few…

Autonomous driving and V2X technologies have developed rapidly in the past decade, leading to improved safety and efficiency in modern transportation. These systems interact with extensive networks of vehicles, roadside infrastructure, and…

The urgent energy transition requirements towards a sustainable future stretch across various industries and are a significant challenge facing humanity. Hydrogen promises a clean, carbon-free future, with the opportunity to integrate with…

In this paper we present the first safe system for full control of self-driving vehicles trained from human demonstrations and deployed in challenging, real-world, urban environments. Current industry-standard solutions use rule-based…

Shared control combines human intention with autonomous decision-making. At the low level, the primary goal is to maintain safety regardless of the user's input to the system. However, existing shared control methods-based on, e.g., Model…

Deep reinforcement learning (DRL) has achieved groundbreaking successes in a wide variety of robotic applications. A natural consequence is the adoption of this paradigm for safety-critical tasks, where human safety and expensive hardware…

Developing an autonomous vehicle control strategy for signalised intersections (SI) is one of the challenging tasks due to its inherently complex decision-making process. This study proposes a Deep Reinforcement Learning (DRL) based…

With the development of state-of-art deep reinforcement learning, we can efficiently tackle continuous control problems. But the deep reinforcement learning method for continuous control is based on historical data, which would make…

High-speed cruising scenarios with mixed traffic greatly challenge the road safety of autonomous vehicles (AVs). Unlike existing works that only look at fundamental modules in isolation, this work enhances AV safety in mixed-traffic…

The validation of autonomous driving systems benefits greatly from the ability to generate scenarios that are both realistic and precisely controllable. Conventional approaches, such as real-world test drives, are not only expensive but…