相关论文: A New Simulation Metric to Determine Safe Environm…

We present the Field of Safe Motion (FSM), a quantitative safety model for determining whether a driver maintains a collision-free escape route, or "out," at any given moment by accounting for that driver's physical capabilities and the…

Accurately modeling and verifying the correct operation of systems interacting in dynamic environments is challenging. By leveraging parametric uncertainty within the model description, one can relax the requirement to describe exactly the…

Safety-critical learning requires policies that improve performance without leaving the safe operating regime. We study constrained policy learning where model parameters must satisfy rollout-based safety constraints that can be evaluated…

Combining efficient and safe control for safety-critical systems is challenging. Robust methods may be overly conservative, whereas probabilistic controllers require a trade-off between efficiency and safety. In this work, we propose a…

A major challenge in the safety assessment of automated vehicles is to ensure that risk for all traffic participants is as low as possible. A concept that is becoming increasingly popular for testing in automated driving is scenario-based…

Navigating complex environments requires Unmanned Aerial Vehicles (UAVs) and autonomous systems to perform trajectory tracking and obstacle avoidance in real-time. While many control strategies have effectively utilized linear…

This paper studies, for the first time, the trajectory planning problem in adversarial environments, where the objective is to design the trajectory of a robot to reach a desired final state despite the unknown and arbitrary action of an…

This paper proposes a Sieve Simulated Method of Moments (Sieve-SMM) estimator for the parameters and the distribution of the shocks in nonlinear dynamic models where the likelihood and the moments are not tractable. An important concern…

This paper presents an approach to deal with safety of dynamical systems in presence of multiple non-convex unsafe sets. While optimal control and model predictive control strategies can be employed in these scenarios, they suffer from high…

Many car-following models like the Intelligent Driver Model (IDM) incorporate important aspects of safety in their definitions, such as collision-free driving and keeping safe distances, implying that drivers are safety conscious when…

This study addresses the challenge of ensuring safe spacecraft proximity operations, focusing on collision avoidance between a chaser spacecraft and a complex-geometry target spacecraft under disturbances. To ensure safety in such…

The Intelligent Driver Model is studied and several drawbacks with respect to driving simulators are defined. We present two modifications of the IDM. The first one gives any predefined distance to the leading vehicle in a steady state. The…

This paper studies the extremum seeking control (ESC) problem for a class of constrained nonlinear systems. Specifically, we focus on a family of constraints allowing to reformulate the original nonlinear system in the so-called…

Robotic manipulation in dynamic and unstructured environments requires safety mechanisms that exploit what is known and what is uncertain about the world. Existing safety filters often assume full observability, limiting their applicability…

There has been an increasing interest in using neural networks in closed-loop control systems to improve performance and reduce computational costs for on-line implementation. However, providing safety and stability guarantees for these…

This paper presents an enhanced direct-method-based approach for the real-time solution of optimal control problems to handle path constraints, such as obstacles. The principal contributions of this work are twofold: first, the existing…

Providing finite-time probabilistic safety and reach-avoid guarantees is crucial for safety-critical stochastic systems. Existing state-of-the-art barrier methods often rely on a restrictive boundedness assumption for auxiliary functions,…

Safety for control systems is often posed as an invariance constraint; the system is said to be safe if state trajectories avoid some unsafe region of the statespace for all time. An assured controller is one that enforces safety online by…

Real-time nonlinear stabilization techniques are often limited by inefficient or intractable online and/or offline computations, or a lack guarantee for global stability. In this paper, we explore the use of Control Contraction Metrics…

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…