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Autonomous vehicles need to be designed to abide by the same rules that humans follow. This is challenging, because traffic rules are fuzzy and not well defined, making them incomprehensible to machines. Satisfaction cannot be incorporated…
We propose a framework for generating a signal control policy for a traffic network of signalized intersections to accomplish control objectives expressible using linear temporal logic. By applying techniques from model checking and formal…
Safety verification for autonomous vehicles (AVs) and ground robots is crucial for ensuring reliable operation given their uncertain environments. Formal language tools provide a robust and sound method to verify safety rules for such…
Traffic rules formalization is crucial for verifying the compliance and safety of autonomous vehicles (AVs). However, manual translation of natural language traffic rules as formal specification requires domain knowledge and logic…
The safety of automated driving systems must be justified by convincing arguments and supported by compelling evidence to persuade certification agencies, regulatory entities, and the general public to allow the systems on public roads.…
Metric Temporal Logic (MTL) is a popular formalism to specify temporal patterns with timing constraints over the behavior of cyber-physical systems with application areas ranging in property-based testing, robotics, optimization, and…
Formal methods refer to rigorous, mathematical approaches to system development and have played a key role in establishing the correctness of safety-critical systems. The main building blocks of formal methods are models and specifications,…
Monitoring consists in deciding whether a log meets a given specification. In this work, we propose an automata-based formalism to monitor logs in the form of actions associated with time stamps and arbitrarily data values over infinite…
As the development of autonomous vehicles progresses, efficient safety assurance methods become increasingly necessary. Safety assurance methods such as monitoring and scenario-based testing call for formalisation of driving scenarios. In…
Temporal logics provide a formalism for expressing complex system specifications. A large body of literature has addressed the verification and the control synthesis problem for deterministic systems under such specifications. For…
In this work, we propose an approach for ensuring the safety of vehicles passing through an intelligent intersection. There are many proposals for the design of intelligent intersections that introduce central decision-makers to…
Networks are difficult to configure correctly, and tricky to debug. These problems are accentuated by temporal and stateful behavior. Static verification, while useful, is ineffectual for detecting behavioral deviations induced by hardware…
Online monitoring aims to evaluate or to predict, at runtime, whether or not the behaviors of a system satisfy some desired specification. It plays a key role in safety-critical cyber-physical systems. In this work, we propose a new…
Signal Temporal Logic (STL) is a formalism used to rigorously specify requirements of cyberphysical systems (CPS), i.e., systems mixing digital or discrete components in interaction with a continuous environment or analog com- ponents. STL…
Formal representations of traffic scenarios can be used to generate test cases for the safety verification of autonomous driving. However, most existing methods are limited to highway or highly simplified intersection scenarios due to the…
One of the challenges in designing safe, reliable and trustworthy Autonomous Vehicles (AVs) is to ensure that the AVs abide by traffic rules. For this, the AVs need to be able to understand and reason about traffic rules. In previous work,…
This survey provides an analysis of current methodologies integrating legal and logical specifications into the perception, prediction, and planning modules of automated driving systems. We systematically explore techniques ranging from…
We design controllers from formal specifications for positive discrete-time monotone systems that are subject to bounded disturbances. Such systems are widely used to model the dynamics of transportation and biological networks. The…
Intelligent mechanisms implemented in autonomous vehicles, such as proactive driving assist and collision alerts, reduce traffic accidents. However, verifying their correct functionality is difficult due to complex interactions with the…
Signal Temporal Logic (STL) is a formal language over continuous-time signals (such as trajectories of a multi-agent system) that allows for the specification of complex spatial and temporal system requirements (such as staying sufficiently…