Related papers: Autonomous System Safety Properties with Multi-Mac…
Assuring safety for ``AI-based'' systems is one of the current challenges in safety engineering. For automated driving systems, in particular, further assurance challenges result from the open context that the systems need to operate in…
In a traditional formal development process, e.g. using the B method, the informal user requirements are (manually) translated into a global abstract formal specification. This translation is especially difficult to achieve. The Event-B…
We combine quantified differential dynamic logic (QdL) for reasoning about the possible behavior of distributed hybrid systems with temporal logic for reasoning about the temporal behavior during their operation. Our logic supports…
This paper presents extensions of control barrier function (CBF) theory to systems with disturbances wherein a controller only receives measurements infrequently and operates open-loop between measurements, while still satisfying state…
This paper studies periodic event-triggered networked control for nonlinear systems, where the plants and controllers are connected by multiple independent communication channels. Several network-induced imperfections are considered…
Physical systems can fail. For this reason the problem of identifying and reacting to faults has received a large attention in the control and computer science communities. In this paper we study the fault diagnosis problem for hybrid…
Training a model to detect patterns of interrelated events that form situations of interest can be a complex problem: such situations tend to be uncommon, and only sparse data is available. We propose a hybrid neuro-symbolic architecture…
This paper introduces a novel solution to the manual control challenge for indoor blimps. The problem's complexity arises from the conflicting demands of executing human commands while maintaining stability through automatic control for…
Autonomous highway driving involves high-speed safety risks due to limited reaction time, where rare but dangerous events may lead to severe consequences. This places stringent requirements on trajectory planning in terms of both…
Trust is a crucial component in collaborative multiagent systems (MAS) involving humans and autonomous AI agents. Rather than assuming trust based on past system behaviours, it is important to formally verify trust by modelling the current…
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 this brief, an improved event-triggered update mechanism (ETM) for the linear quadratic regulator is proposed to solve the lateral motion control problem of intelligent vehicle under bounded disturbances. Based on a novel event function…
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.…
Safety is a central requirement for automated vehicles. As such, the assessment of risk in automated driving is key in supporting both motion planning technologies and safety evaluation. In automated driving, risk is characterized by two…
We propose a hybrid approach for decentralized multi-robot navigation that ensures both safety and deadlock prevention. Building on a standard control formulation, we add a lightweight deadlock prevention mechanism by forming temporary…
With the gradual advancement of a novel idea of the distributed control of the multiagent systems, an event-triggered control protocol has received significant research attention, especially in designing the controller for the nonlinear…
In this work, we propose a compositional scheme based on small-gain reasoning to synthesize safety controllers for interconnected stochastic hybrid systems. In our proposed setting, we first offer an augmented scheme that characterizes each…
We introduce a holistic framework for the analysis, approximation and control of the trajectories of hybrid dynamical systems which display event-triggered discrete jumps in the continuous state. We begin by demonstrating how to explicitly…
Cyber-physical systems are often safety-critical and their correctness is crucial, as in the case of automated driving. Using formal mathematical methods is one way to guarantee correctness. Though these methods have shown their usefulness,…
This paper introduces operators, semantics, characterizations, and solution-independent conditions to guarantee temporal logic specifications for hybrid dynamical systems. Hybrid dynamical systems are given in terms of differential…