相关论文: Formal Verification of Station Keeping Maneuvers f…
Formal verification provides strong safety guarantees but only for models of cyber-physical systems. Hybrid system models describe the required interplay of computation and physical dynamics, which is crucial to guarantee what computations…
The spread of autonomous systems into safety-critical areas has increased the demand for their formal verification, not only due to stronger certification requirements but also to public uncertainty over these new technologies. However, the…
We consider systems composed of an unbounded number of uniformly designed linear hybrid automata, whose dynamic behavior is determined by their relation to neighboring systems. We present a class of such systems and a class of safety…
The safety of mobile robots in dynamic environments is predicated on making sure that they do not collide with obstacles. In support of such safety arguments, we analyze and formally verify a series of increasingly powerful safety…
The coordination of multiple autonomous vehicles into convoys or platoons is expected on our highways in the near future. However, before such platoons can be deployed, the new autonomous behaviors of the vehicles in these platoons must be…
In this paper, we analyse the impact of delayed event detection on the stability of a 2-mode planar hybrid automata. We consider hybrid automata with a unique equilibrium point for all the modes, and we find the maximum delay that preserves…
To realize a market entry of autonomous vehicles in the foreseeable future, the behavior planning system will need to abide by the same rules that humans follow. Product liability cannot be enforced without a proper solution to the approval…
Switched systems are known to exhibit subtle (in)stability behaviors requiring system designers to carefully analyze the stability of closed-loop systems that arise from their proposed switching control laws. This paper presents a formal…
Recent developments in autonomous driving, vehicle-to-vehicle communication and smart traffic controllers have provided a hope to realize platoon formation of vehicles. The main benefits of vehicle platooning include improved safety,…
There is a great diversity of formal models to understand the dynamics of transport and vehicular flow on a road. Many of these models are inspired by the dynamics of flows governed by partial differential equations. However, it is possible…
In this work, a novel method for planar task and motion planning based on hybrid modeling is proposed. By virtue of a discrete variable which models local constraint satisfaction and enables local feasibility analysis, the proposed control…
Hybrid systems are characterized by the hybrid evolution of their state: A part of the state changes discretely, the other part changes continuously over time. Typically, modern control applications belong to this class of systems, where a…
A fundamental maneuver in autonomous space operations is known as rendezvous, where a spacecraft navigates to and approaches another spacecraft. In this case study, we present linear and nonlinear benchmark models of an active chaser…
We present the DRYVR framework for verifying hybrid control systems that are described by a combination of a black-box simulator for trajectories and a white-box transition graph specifying mode switches. The framework includes (a) a…
We present a singular perturbation theory applicable to systems with hybrid boundary layer systems and hybrid reduced systems {with} jumps from the boundary layer manifold. First, we prove practical attractivity of an adequate attractor set…
This paper presents a novel hybrid control protocol for de-conflicting multiple vehicles with constraints on control inputs. We consider turning rate and linear speed constraints to represent fixed-wing or car-like vehicles. A set of…
This article presents a formal model and formal safety proofs for the ABZ'25 case study in differential dynamic logic (dL). The case study considers an autonomous car driving on a highway avoiding collisions with neighbouring cars. Using…
The use of autonomous vehicles in real-world applications is often precluded by the difficulty of providing safety guarantees for their complex controllers. The simulation-based testing of these controllers cannot deliver sufficient safety…
A control system verification framework is presented for unmanned aerial vehicles using theorem proving. The framework's aim is to set out a procedure for proving that the mathematically designed control system of the aircraft satisfies…
Deep neural networks can be trained to be efficient and effective controllers for dynamical systems; however, the mechanics of deep neural networks are complex and difficult to guarantee. This work presents a general approach for providing…