Related papers: Risk-Driven Design of Perception Systems

This paper investigates runtime monitoring of perception systems. Perception is a critical component of high-integrity applications of robotics and autonomous systems, such as self-driving cars. In these applications, failure of perception…

Perception is a critical component of high-integrity applications of robotics and autonomous systems, such as self-driving vehicles. In these applications, failure of perception systems may put human life at risk, and a broad adoption of…

Sensing and Perception (S&P) is a crucial component of an autonomous system (such as a robot), especially when deployed in highly dynamic environments where it is required to react to unexpected situations. This is particularly true in case…

Perception components in autonomous systems are often developed and optimized independently of downstream decision-making and control components, relying on established performance metrics like accuracy, precision, and recall. Traditional…

Extensive evaluation of perception systems is crucial for ensuring the safety of intelligent vehicles in complex driving scenarios. Conventional performance metrics such as precision, recall and the F1-score assess the overall detection…

In autonomous driving, perception systems are piv otal as they interpret sensory data to understand the envi ronment, which is essential for decision-making and planning. Ensuring the safety of these perception systems is fundamental for…

We present a novel method for testing the safety of self-driving vehicles in simulation. We propose an alternative to sensor simulation, as sensor simulation is expensive and has large domain gaps. Instead, we directly simulate the outputs…

Perception is a critical component of high-integrity applications of robotics and autonomous systems, such as self-driving cars. In these applications, failure of perception systems may put human life at risk, and a broad adoption of these…

Motivated by vision-based control of autonomous vehicles, we consider the problem of controlling a known linear dynamical system for which partial state information, such as vehicle position, is extracted from complex and nonlinear data,…

The classical approach to design a system is based on a deterministic perspective where the assumption is that the system and its environment are fully predictable, and their behaviour is completely known to the designer. Although this…

Perception systems operate as a subcomponent of the general autonomy stack, and perception system designers often need to optimize performance characteristics while maintaining safety with respect to the overall closed-loop system. For this…

The latest advances in the design of vehicles with the adaptive level of automation pose new challenges in the vehicle-driver interaction. Safety requirements underline the need to explore optimal cockpit architectures with regard to driver…

In the field of conditional autonomous driving technology, driver perceived risk prediction plays a crucial role in reducing traffic risks and ensuring passenger safety. This study introduces an innovative perceived risk prediction model…

To enable safe autonomous vehicle (AV) operations, it is critical that an AV's obstacle detection module can reliably detect obstacles that pose a safety threat (i.e., are safety-critical). It is therefore desirable that the evaluation…

Autonomous cars have to navigate in dynamic environment which can be full of uncertainties. The uncertainties can come either from sensor limitations such as occlusions and limited sensor range, or from probabilistic prediction of other…

While the most visible part of the safety verification process of automated vehicles concerns the planning and control system, it is often overlooked that safety of the latter crucially depends on the fault-tolerance of the preceding…

Testing black-box perceptual-control systems in simulation faces two difficulties. Firstly, perceptual inputs in simulation lack the fidelity of real-world sensor inputs. Secondly, for a reasonably accurate perception system, encountering a…

Safety assurance of automated driving systems must consider uncertain environment perception. This paper reviews literature addressing how perception testing is realized as part of safety assurance. We focus on testing for verification and…

Intelligent devices for supporting persons with vision impairment are becoming more widespread, but they are lacking behind the advancements in intelligent driver assistant system. To make a first step forward, this work discusses the…

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…