Related papers: Ensuring Safety at Intelligent Intersections: Temp…
In this paper, we propose a framework for the control of mobile robots subject to temporal logic specifications using barrier functions. Complex task specifications can be conveniently encoded using linear temporal logic. In particular, we…
Ensuring the safety of vulnerable road users through accurate prediction of pedestrian crossing intention (PCI) plays a crucial role in the context of autonomous and assisted driving. Analyzing the set of observation video frames in…
Temporal logics over finite traces have recently seen wide application in a number of areas, from business process modelling, monitoring, and mining to planning and decision making. However, real-life dynamic systems contain a degree of…
Intersections constitute one of the most dangerous elements in road systems. Traffic signals remain the most common way to control traffic at high-volume intersections and offer many opportunities to apply intelligent transportation systems…
Autonomous vehicles necessitate a delicate balance between safety, efficiency, and user preferences in trajectory planning. Existing traditional or learning-based methods face challenges in adequately addressing all these aspects. In…
In this paper, we present a novel framework for quantifying a lower bound on resilience in continuous-time (non)linear systems subject to external disturbances while ensuring satisfaction of signal temporal logic specifications. Unlike…
The full deployment of autonomous driving systems on a worldwide scale requires that the self-driving vehicle be operated in a provably safe manner, i.e., the vehicle must be able to avoid collisions in any possible traffic situation. In…
The paper presents a methodology for temporal logic verification of continuous-time switched stochastic systems. Our goal is to find the lower bound on the probability that a complex temporal property is satisfied over a finite time…
We study the temporal robustness of stochastic signals. This topic is of particular interest in interleaving processes such as multi-agent systems where communication and individual agents induce timing uncertainty. For a deterministic…
A key challenge to ensuring the rapid transition of robotic systems from the industrial sector to more ubiquitous applications is the development of algorithms that can guarantee safe operation while in close proximity to humans. Motion…
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,…
Temporal logic inference is the process of extracting formal descriptions of system behaviors from data in the form of temporal logic formulas. The existing temporal logic inference methods mostly neglect uncertainties in the data, which…
Neural network-based driving planners have shown great promises in improving task performance of autonomous driving. However, it is critical and yet very challenging to ensure the safety of systems with neural network based components,…
A significant portion of driving hazards is caused by human error and disregard for local driving regulations; Consequently, an intelligent assistance system can be beneficial. This paper proposes a novel vision-based modular package to…
The rapid development and deployment of vehicle technologies offer opportunities to re-think the way traffic is managed. This paper capitalizes on vehicle connectivity and proposes an economic instrument and corresponding cooperative…
Societal-scale deployment of autonomous vehicles requires them to coexist with human drivers, necessitating mutual understanding and coordination among these entities. However, purely real-world or simulation-based experiments cannot be…
Recently there have been a lot of interests in introducing UAVs for a wide range of applications, making ensuring safety of multi-vehicle systems a highly crucial problem. Hamilton-Jacobi (HJ) reachability is a promising tool for analyzing…
In recent years, control under urban intersection scenarios becomes an emerging research topic. In such scenarios, the autonomous vehicle confronts complicated situations since it must deal with the interaction with social vehicles timely…
In this paper, we propose an approach how connected and highly automated vehicles can perform cooperative maneuvers such as lane changes and left-turns at urban intersections where they have to deal with human-operated vehicles and…
This paper concerns automated vehicles negotiating with other vehicles, typically human driven, in crossings with the goal to find a decision algorithm by learning typical behaviors of other vehicles. The vehicle observes distance and speed…