Related papers: On the Completeness and Ordering of Path-Complete …

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…

We introduce the graph theoretical parameter of edge treewidth. This parameter occurs in a natural way as the tree-like analogue of cutwidth or, alternatively, as an edge-analogue of treewidth. We study the combinatorial properties of…

Connected and automated vehicles have shown great potential in improving traffic mobility and reducing emissions, especially at unsignalized intersections. Previous research has shown that vehicle passing order is the key influencing factor…

In this paper, we propose a compositional framework for the construction of control barrier certificates for large-scale stochastic switched systems accepting multiple control barrier certificates with some dwell-time conditions. The…

In modern robotics, addressing the lack of accurate state space information in real-world scenarios has led to a significant focus on utilizing visuomotor observation to provide safety assurances. Although supervised learning methods, such…

Scenario-based testing has become a promising approach to overcome the complexity of real-world traffic for safety assurance of automated vehicles. Within scenario-based testing, a system under test is confronted with a set of predefined…

This paper introduces integral control barrier functions (I-CBFs) as a means to enable the safety-critical integral control of nonlinear systems. Importantly, I-CBFs allow for the holistic encoding of both state constraints and input bounds…

With the aid of the concept of stable independence we can construct, in an efficient way, a compact representation of a semi-graphoid independence relation. We show that this representation provides a new necessary condition for the…

Control Barrier Functions (CBFs) provide a powerful framework for ensuring safety in dynamical systems. However, their application typically relies on full state information, which is often violated in real-world due to the availability of…

For any particular class of graphs, algorithms for computational problems restricted to the class often rely on structural properties that depend on the specific problem at hand. This begs the question if a large set of such results can be…

The widespread adoption of autonomous systems depends on providing guarantees of safety and functional correctness, at both design time and runtime. Information about the extent to which functional requirements can be met in combination…

We tackle a new task, event graph completion, which aims to predict missing event nodes for event graphs. Existing link prediction or graph completion methods have difficulty dealing with event graphs because they are usually designed for a…

Classical path search assumes complete graphs and scalar optimization metrics, yet real infrastructure networks are incomplete and require multi-dimensional evaluation. We introduce the concept of traversal: a generalization of paths that…

A colored graph is a directed graph in which nodes or edges have been assigned colors that are not necessarily unique. Observability problems in such graphs consider whether an agent observing the colors of edges or nodes traversed on a…

We study the problem of co-designing control barrier functions and linear state feedback controllers for discrete-time linear systems affected by additive disturbances. For disturbances of bounded magnitude, we provide a semi-definite…

For a directed acyclic graph, there are two known criteria to decide whether any specific conditional independence statement is implied for all distributions factorized according to the given graph. Both criteria are based on special types…

Multi-mobile robot systems show great advantages over one single robot in many applications. However, the robots are required to form desired task-specified formations, making feasible motions decrease significantly. Thus, it is challenging…

This paper demonstrates that the safety override arising from the use of a barrier function can in some cases be needlessly restrictive. In particular, we examine the case of fixed-wing collision avoidance and show that when using a barrier…

This note presents several results in graph theory inspired by the author's work in the proof theory of linear logic; these results are purely combinatorial and do not involve logic. We show that trails avoiding forbidden transitions,…

The full deployment of autonomous driving systems on a worldwide scale requires that the self-driving vehicle be operated in a provably safe manner, i.e., the vehicle must be able to avoid collisions in any possible traffic situation. In…