Related papers: Autonomous System Safety Properties with Multi-Mac…
Safety is an important topic in autonomous driving since any collision may cause serious injury to people and damage to property. Hamilton-Jacobi (HJ) Reachability is a formal method that verifies safety in multi-agent interaction and…
This paper proposes a framework to design an event-triggered based robust control law for linear uncertain system. The robust control law is realized through both static and dynamic event-triggering approach to reduce the computation and…
Event-Driven Particle Dynamics is a fast and precise method to simulate particulate systems of all scales. In this work it is demonstrated that, despite the high accuracy of the method, the finite machine precision leads to simulations…
Delays are ubiquitous in modern hybrid systems, which exhibit both continuous and discrete dynamical behaviors. Induced by signal transmission, conversion, the nature of plants, and so on, delays may appear either in the continuous…
Modern Automated Driving (AD) systems rely on safety measures to handle faults and to bring vehicle to a safe state. To eradicate lethal road accidents, car manufacturers are constantly introducing new perception as well as control systems.…
In the discrete modeling approach for hybrid control systems, the continuous plant is reduced to a discrete event approximation, called the DES-plant, that is governed by a discrete event system, representing the controller. The…
This paper proposes an event-triggered control scheme for multivariable extremum seeking of static maps. Both static and dynamic triggering conditions are developed. Integrating Lyapunov and averaging theories for discontinuous systems, a…
This note presents an embedded automatic control strategy for a low consumption vehicle equipped with an "on/off" engine. The main difficulties are the hybrid nature of the dynamics, the non smoothness of the dynamics of each mode, the…
In various scenarios such as multi-drone surveillance and search-and-rescue operations, deploying multiple robots is essential to accomplish multiple tasks at once. Due to the limited communication range of these vehicles, a decentralised…
Developing safe autonomous driving systems is a major scientific and technical challenge. Existing AI-based end-to-end solutions do not offer the necessary safety guarantees, while traditional systems engineering approaches are defeated by…
Automated Driving Systems (ADS), including Advanced Driver Assistance Systems (ADAS), must fulfill not only high functional expectations but also stringent timing constraints mandated by international regulations and standards. Regulatory…
The increasing use of autonomous and semi-autonomous agents in society has made it crucial to validate their safety. However, the complex scenarios in which they are used may make formal verification impossible. To address this challenge,…
Contingency planning is the architectural capability that enables autonomous vehicles (AVs) to anticipate and mitigate discrete, high-impact hazards, such as sensor outages and adversarial interactions. This paper presents a comprehensive…
The HSA Foundation has produced the HSA Platform System Architecture Specification that goes a long way towards addressing the need for a clear and consistent method for specifying weakly consistent memory. HSA is specified in a natural…
Safety is essential for autonomous systems, in particular for interconnected systems in which the interactions among subsystems are involved. Motivated by the recent interest in cyber-physical and interconnected autonomous systems, we…
Due to the limitations of SCADE models in expressing and verifying abstract specifications in safety-critical systems, this study proposes a formal verification framework based on the B-Method. By establishing a semantic equivalence…
In this work, a dynamic system is controlled by multiple sensor-actuator agents, each of them commanding and observing parts of the system's input and output. The different agents sporadically exchange data with each other via a common bus…
We develop an algorithm for the motion and task planning of a system comprised of multiple robots and unactuated objects under tasks expressed as Linear Temporal Logic (LTL) constraints. The robots and objects evolve subject to uncertain…
As systems become ever more complex, verification becomes more main stream. Event-B and Alloy are two formal specification languages based on fairly different methodologies. While Event-B uses theorem provers to prove that invariants hold…
We present a shared control paradigm that improves a user's ability to operate complex, dynamic systems in potentially dangerous environments without a priori knowledge of the user's objective. In this paradigm, the role of the autonomous…