Related papers: Refining Perception Contracts: Case Studies in Vis…
Machine Vision Components (MVC) are becoming safety-critical. Assuring their quality, including safety, is essential for their successful deployment. Assurance relies on the availability of precisely specified and, ideally,…
We propose a methodology that exploits the contract formalism to characterize the continuous-time safety control problem, which is often difficult to address, in terms of a discrete-time one, for which numerous efficient solution scheme…
Behavioral software contracts are a widely used mechanism for governing the flow of values between components. However, run-time monitoring and enforcement of contracts imposes significant overhead and delays discovery of faulty components…
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…
Contract-based design is a promising methodology for taming the complexity of developing sophisticated systems. A formal contract distinguishes between assumptions, which are constraints that the designer of a component puts on the…
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…
We present a motion planning algorithm for a class of uncertain control-affine nonlinear systems which guarantees runtime safety and goal reachability when using high-dimensional sensor measurements (e.g., RGB-D images) and a learned…
Autonomous systems operating in unknown environments often rely heavily on visual sensor data, yet making safe and informed control decisions based on these measurements remains a significant challenge. To facilitate the integration of…
As robots aspire for long-term autonomous operations in complex dynamic environments, the ability to reliably take mission-critical decisions in ambiguous situations becomes critical. This motivates the need to build systems that have…
As blockchain technology and smart contracts become widely adopted, securing them throughout every stage of the transaction process is essential. The concern of improved security for smart contracts is to find and detect vulnerabilities…
Motion forecasting is crucial in enabling autonomous vehicles to anticipate the future trajectories of surrounding agents. To do so, it requires solving mapping, detection, tracking, and then forecasting problems, in a multi-step pipeline.…
Smart contracts are programs that execute transactions involving independent parties and cryptocurrencies. As programs, smart contracts are susceptible to a wide range of errors and vulnerabilities. Such vulnerabilities can result in…
Learning-enabled control systems have demonstrated impressive empirical performance on challenging control problems in robotics, but this performance comes at the cost of reduced transparency and lack of guarantees on the safety or…
Recently developed pretrained models can encode rich world knowledge expressed in multiple modalities, such as text and images. However, the outputs of these models cannot be integrated into algorithms to solve sequential decision-making…
Life insurance, like other forms of insurance, relies heavily on large volumes of data. The business model is based on an exchange where companies receive payments in return for the promise to provide coverage in case of an accident. Thus,…
This work presents a step towards utilizing incrementally-improving symbolic perception knowledge of the robot's surroundings for provably correct reactive control synthesis applied to an autonomous driving problem. Combining abstract…
Smart contracts are tools with self-execution capabilities that provide enhanced security compared to traditional contracts; however, their immutability makes post-deployment fault correction extremely complex, highlighting the need for a…
Static type systems are usually not sufficient to express all requirements on function calls. Hence, contracts with pre- and postconditions can be used to express more complex constraints on operations. Contracts can be checked at run time…
A runtime assurance system (RTA) for a given plant enables the exercise of an untrusted or experimental controller while assuring safety with a backup (or safety) controller. The relevant computational design problem is to create a logic…
Formal verification entails testing software to ensure it operates as specified. Smart contracts are self-executing contracts with the terms of the agreement directly written into lines of code. They run on blockchain platforms and…