Related papers: Ensuring Safety at Intelligent Intersections: Temp…
One of the unresolved challenges for autonomous vehicles is safe navigation among occluded pedestrians and vehicles. Previous approaches included generating phantom vehicles and assessing their risk, but they often made the ego vehicle…
Traffic simulators are widely used to study the operational efficiency of road infrastructure, but their rule-based approach limits their ability to mimic real-world driving behavior. Traffic intersections are critical components of the…
A fault-tolerant negotiation-based intersection crossing protocol is presented. Rigorous analytic proofs are used for demonstrating the correctness and fault-tolerance properties. Experimental results validate the correctness proof via…
Autonomous driving in complex traffic requires reasoning under uncertainty. Common approaches rely on prediction-based planning or risk-aware control, but these are typically treated in isolation, limiting their ability to capture the…
Provable safety is one of the most critical challenges in automated driving. The behavior of numerous traffic participants in a scene cannot be predicted reliably due to complex interdependencies and the indiscriminate behavior of humans.…
Human-involved interactive environments pose significant challenges for autonomous vehicle decision-making processes due to the complexity and uncertainty of human behavior. It is crucial to develop an explainable and trustworthy…
Many applications -- from planning and scheduling to problems in molecular biology -- rely heavily on a temporal reasoning component. In this paper, we discuss the design and empirical analysis of algorithms for a temporal reasoning system…
We propose a reachability-based framework for reliable LLM-guided human-autonomy teaming (HAT) using signal temporal logic (STL). In the proposed framework, LLM is leveraged as a translator that transfers natural language commands given by…
In this paper, we present a mechanism for building hybrid system observers to differentiate between specific positions of the hybrid system. The mechanism is designed through inferring metric temporal logic (MTL) formulae from simulated…
Accurate and interpretable mortality risk prediction in intensive care units (ICUs) remains a critical challenge due to the irregular temporal structure of electronic health records (EHRs), the complexity of longitudinal disease…
Many modern autonomous systems, particularly multi-agent systems, are time-critical and need to be robust against timing uncertainties. Previous works have studied left and right time robustness of signal temporal logic specifications by…
This paper studies the synthesis of control policies for an agent that has to satisfy a temporal logic specification in a partially observable environment, in the presence of an adversary. The interaction of the agent (defender) with the…
Temporal graphs represent interactions between entities over the time. These interactions may be direct (a contact between two nodes at some time instant), or indirect, through sequences of contacts called temporal paths (journeys).…
Collision avoidance requires tradeoffs in planning time horizons. Depending on the planner, safety cannot always be guaranteed in uncertain environments given map updates. To mitigate situations where the planner leads the vehicle into a…
Verification of temporal logic properties plays a crucial role in proving the desired behaviors of hybrid systems. In this paper, we propose an interval method for verifying the properties described by a bounded linear temporal logic. We…
Providing an efficient strategy to navigate safely through unsignaled intersections is a difficult task that requires determining the intent of other drivers. We explore the effectiveness of Deep Reinforcement Learning to handle…
Learning-based approaches for controlling safety-critical systems are rapidly growing in popularity; thus, it is important to assure their performance and safety. Hamilton-Jacobi (HJ) reachability analysis is a popular formal verification…
The mortality rate for pedestrians using wheelchairs was 36% higher than the overall population pedestrian mortality rate. However, there is no data to clarify the pedestrians' categories in both fatal and nonfatal accidents, since police…
We consider the problem of intelligently navigating through complex traffic. Urban situations are defined by the underlying map structure and special regulatory objects of e.g. a stop line or crosswalk. Thereon dynamic vehicles (cars,…
Cybersecurity has been a concern for quite a while now. In the latest years, cyberattacks have been increasing in size and complexity, fueled by significant advances in technology. Nowadays, there is an unavoidable necessity of protecting…