Related papers: Towards Safe Autonomous Driving: A Real-Time Safeg…
Runtime verification is checking whether a system execution satisfies or violates a given correctness property. A procedure that automatically, and typically on the fly, verifies conformance of the system's behavior to the specified…
An open question in autonomous driving is how best to use simulation to validate the safety of autonomous vehicles. Existing techniques rely on simulated rollouts, which can be inefficient for finding rare failure events, while other…
Ensuring safe driving while maintaining travel efficiency for autonomous vehicles in dynamic and occluded environments is a critical challenge. This paper proposes an occlusion-aware contingency safety-critical planning approach for…
In the path planning problem of autonomous application, the existing studies separately consider the path planning and trajectory tracking control of the autonomous vehicle and few of them have integrated the trajectory planning and…
With their potential to significantly reduce traffic accidents, enhance road safety, optimize traffic flow, and decrease congestion, autonomous driving systems are a major focus of research and development in recent years. Beyond these…
Motion planning for merging scenarios accounting for measurement and prediction uncertainties is a major challenge on the way to autonomous driving. Classical methods subdivide the motion planning into behavior and trajectory planning, thus…
Motion planning at urban intersections that accounts for the situation context, handles occlusions, and deals with measurement and prediction uncertainty is a major challenge on the way to urban automated driving. In this work, we address…
Action anticipation, intent prediction, and proactive behavior are all desirable characteristics for autonomous driving policies in interactive scenarios. Paramount, however, is ensuring safety on the road --- a key challenge in doing so is…
Autonomous driving functions (ADFs) in public traffic have to comply with complex system requirements that are based on knowledge of experts from different disciplines, e.g., lawyers, safety experts, psychologists. In this paper, we present…
Safety verification for autonomous vehicles (AVs) and ground robots is crucial for ensuring reliable operation given their uncertain environments. Formal language tools provide a robust and sound method to verify safety rules for such…
To improve safety and energy efficiency, autonomous vehicles are expected to drive smoothly in most situations, while maintaining their velocity below a predetermined speed limit. However, some scenarios such as low road adherence or…
A runtime assurance system (RTA) for a given plant enables the exercise of an untrusted or experimental controller while assuring safety with a backup (or safety) controller. The relevant computational design problem is to create a logic…
Motion planners for mobile robots in unknown environments face the challenge of simultaneously maintaining both robustness against unmodeled uncertainties and persistent feasibility of the trajectory-finding problem. That is, while dealing…
Motion trajectory planning is one crucial aspect for automated vehicles, as it governs the own future behavior in a dynamically changing environment. A good utilization of a vehicle's characteristics requires the consideration of the…
Trusting software systems, particularly autonomous ones, is challenging. To address this, formal verification techniques can ensure these systems behave as expected. Runtime Verification (RV) is a leading, lightweight method for verifying…
We present a new framework for motion planning that wraps around existing kinodynamic planners and guarantees recursive feasibility when operating in a priori unknown, static environments. Our approach makes strong guarantees about overall…
The paper addresses the problem of providing suitable reference trajectories in motion planning problems for autonomous vehicles. Among the various approaches to compute a reference trajectory, our aim is to find those trajectories which…
The zeitgeist of the digital era has been dominated by an expanding integration of Artificial Intelligence~(AI) in a plethora of applications across various domains. With this expansion, however, questions of the safety and reliability of…
A significant portion of driving hazards is caused by human error and disregard for local driving regulations; Consequently, an intelligent assistance system can be beneficial. This paper proposes a novel vision-based modular package to…
Motion planning is an extremely well-studied problem in the robotics community, yet existing work largely falls into one of two categories: computationally efficient but with few if any safety guarantees, or able to give stronger guarantees…