Related papers: Autonomous System Safety Properties with Multi-Mac…
We extend the definition of a Stochastic Hybrid Automaton (SHA) to overcome limitations that make it difficult to use for on-line control. Since guard sets do not specify the exact event causing a transition, we introduce a clock structure…
Models are centrally important in many scientific fields. A model is a representation of a selected part of the world, which is the model s target system. Here, a system consists of a software portion as a component among many others.…
The interest in 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…
Hybrid systems with both discrete and continuous dynamics are an important model for real-world cyber-physical systems. The key challenge is to ensure their correct functioning w.r.t. safety requirements. Promising techniques to ensure…
Refinement in Event-B supports the development of systems via proof based step-wise refinement of events. This refinement approach ensures safety properties are preserved, but additional reasoning is required in order to establish liveness…
Event-B provides a flexible framework for stepwise system development via refinement. The framework supports steps for (a) refining events (one-by-one), (b) splitting events (one-by-many), and (c) introducing new events. In each of the…
Autonomous driving vehicles provide a vast potential for realizing use cases in the on-road and off-road domains. Consequently, remarkable solutions exist to autonomous systems' environmental perception and control. Nevertheless, proof of…
Event-B is one of more popular notations for model-based, proof driven specification. It offers a fairly high-level mathematical lan- guage based on FOL and ZF set theory and an economical yet expres- sive modelling notation. Model…
Many controllers for legged robotic systems leverage open- or closed-loop control at discrete hybrid events to enhance stability. These controllers appear in several well studied phenomena such as the Raibert stepping controller, paddle…
We propose a hybrid decision-making framework for safe and efficient autonomous driving of selfish vehicles on highways. Specifically, we model the dynamics of each vehicle as a Mixed-Logical-Dynamical system and propose simple driving…
Autonomous vehicles face tremendous challenges while interacting with human drivers in different kinds of scenarios. Developing control methods with safety guarantees while performing interactions with uncertainty is an ongoing research…
This paper discusses cooperative stabilization control of rigid formations via an event-based approach. We first design a centralized event-based formation control system, in which a central event controller determines the next triggering…
Standards play the key role in safety-critical systems. Errors in standards could mislead system developer's understanding and introduce bugs into system implementations. In this paper, we present an Event-B formalization and verification…
Prediction and optimisation of a wheel loader's dynamic behaviour is a challenge due to tightly coupled, non-linear subsystems of different technical domains. Furthermore, a simulation regarding performance, efficiency, and operability…
This paper addresses the problem of guaranteeing safety of multiple coordinated agents moving in dynamic environments. It has recently been shown that this problem can be efficiently solved through the notion of Control Barrier Functions…
Traditional Business Process Management (BPM) focuses on discrete events and fails to incorporate critical continuous sensor data in cyber-physical environments. Hybrid declarative specifications, utilizing Signal Temporal Logic (STL),…
Timed automata are a common formalism for the verification of concurrent systems subject to timing constraints. They extend finite-state automata with clocks, that constrain the system behavior in locations, and to take transitions. While…
Currently, we are in an environment where the fraction of automated vehicles is negligibly small. We anticipate that this fraction will increase in coming decades before if ever, we have a fully automated transportation system. Motivated by…
We investigate the coordination and control problems of distributed discrete event systems that are composed of multiple subsystems subject to potential actuator and/or sensor faults. We model actuator faults as local controllability loss…
This work in progress considers reachability-based safety analysis in the domain of autonomous driving in multi-agent systems. We formulate the safety problem for a car following scenario as a differential game and study how different…