Related papers: Autonomous System Safety Properties with Multi-Mac…
Ensuring the safety of autonomous vehicles (AVs) is the key requisite for their acceptance in society. This complexity is the core challenge in formally proving their safety conditions with AI-based black-box controllers and surrounding…
Robotic research over the last decades have lead us to different architectures to automatically synthesise discrete event controllers and implement these motion and task plans in real-world robot scenarios. However, these architectures…
Event-B is a formal approach oriented to system modeling and analysis. It supports refinement mechanism that enables stepwise modeling and verification of a system. By using refinement, the complexity of verification can be spread and…
We present Barrier-based Simplex (Bb-Simplex), a new, provably correct design for runtime assurance of continuous dynamical systems. Bb-Simplex is centered around the Simplex control architecture, which consists of a high-performance…
Hybrid dynamical systems with nonlinear dynamics are one of the most general modeling tools for representing robotic systems, especially contact-rich systems. However, providing guarantees regarding the safety or performance of nonlinear…
The substitution of a system with another one may occur in several situations like system adaptation, system failure management, system resilience, system reconfiguration, etc. It consists in replacing a running system by another one when…
Hybrid dynamical systems are ubiquitous as practical robotic applications often involve both continuous states and discrete switchings. Safety is a primary concern for hybrid robotic systems. Existing safety-critical control approaches for…
We present Unit-B, a formal method inspired by Event-B and UNITY. Unit-B aims at the stepwise design of software systems satisfying safety and liveness properties. The method features the novel notion of coarse and fine schedules, a…
The interest on autonomous systems is increasing both in industry and academia. Such systems must operate with limited human intervention in a changing environment and must be able to compensate for significant system failures without…
Formal reasoning on the safety of controller systems interacting with plants is complex because developers need to specify behavior while taking into account perceptual uncertainty. To address this, we propose an automated workflow that…
We introduce a method to specify and analyse decentralised dynamic systems; the method is based on the combination of an event-based multi-process system specification approach with a multi-facet analysis approach that considers a reference…
We design and experimentally evaluate a hybrid safe-by-construction collision avoidance controller for autonomous vehicles. The controller combines into a single architecture the respective advantages of an adaptive controller and a…
Autonomous vehicles (AVs) hold vast potential to enhance transportation systems by reducing congestion, improving safety, and lowering emissions. AV controls lead to emergent traffic phenomena; one such intriguing phenomenon is traffic…
Event-B has been actively used within the EU Deploy project to model dependable systems from various application domains. As a result, we have created a number of formal approaches to explicitly reason about dependability in the refinement…
Linear-Rate Multi-Mode Systems is a model that can be seen both as a subclass of switched linear systems with imposed global safety constraints and as hybrid automata with no guards on transitions. We study the existence and design of a…
The failure of hardware or software in a critical system can lead to loss of lives. The design errors can be main source of the failures that can be introduced during system development process. Formal techniques are an alternative approach…
Hybrid systems are characterized by having an interaction between continuous dynamics and discrete events. The contribution of this paper is to provide hybrid systems with a novel geometric formulation so that controls can be added. Using…
Designing, assuring and releasing safe automated vehicles is a highly interdisciplinary process. As complex systems, automated driving systems will inevitably be subject to emergent properties, i. e., the properties of the overall system…
In this paper, a uniform approach to maximal permissiveness in modular control of discrete-event systems is proposed. It is based on three important concepts of modular closed-loops: monotonicity, distributivity, and exchangeability.…
Autonomous systems are often deployed in complex sociotechnical environments, such as public roads, where they must behave safely and securely. Unlike many traditionally engineered systems, autonomous systems are expected to behave…