相关论文: A Data-driven, Falsification-based Model of Human …

Trajectory modeling refers to characterizing human movement behavior, serving as a pivotal step in understanding mobility patterns. Nevertheless, existing studies typically ignore the confounding effects of geospatial context, leading to…

Human beings cooperatively navigate rule-constrained environments by adhering to mutually known navigational patterns, which may be represented as directional pathways or road lanes. Inferring these navigational patterns from incompletely…

In monitoring, we algorithmically check if a single behavior satisfies a property. Here, we consider monitoring for Multi-Lane Spatial Logic (MLSL). The behavior is given as a finite transition sequence of MLSL and the property is that a…

In this paper, we introduce a data-driven framework for synthesis of provably-correct controllers for general nonlinear switched systems under complex specifications. The focus is on systems with unknown disturbances whose effects on the…

Pedestrian trajectory prediction is a critical to avoid autonomous driving collision. But this prediction is a challenging problem due to social forces and cluttered scenes. Such human-human and human-space interactions lead to many…

Robust prediction of citywide traffic flows at different time periods plays a crucial role in intelligent transportation systems. While previous work has made great efforts to model spatio-temporal correlations, existing methods still…

This paper proposes a method for designing human-robot collaboration tasks and generating corresponding trajectories. The method uses high-level specifications, expressed as a Signal Temporal Logic (STL) formula, to automatically synthesize…

We consider systems under uncertainty whose dynamics are partially unknown. Our aim is to study satisfaction of temporal logic properties by trajectories of such systems. We express these properties as signal temporal logic formulas and…

Understanding human driving behaviors quantitatively is critical even in the era when connected and autonomous vehicles and smart infrastructure are becoming ever more prevalent. This is particularly so as that mixed traffic settings, where…

Benchmarking anomaly detection approaches for multivariate time series is a challenging task due to a lack of high-quality datasets. Current publicly available datasets are too small, not diverse and feature trivial anomalies, which hinders…

Learning dynamical systems properties from data provides important insights that help us understand such systems and mitigate undesired outcomes. In this work, we propose a framework for learning spatio-temporal (ST) properties as formal…

Studies have shown that autonomous vehicles (AVs) behave conservatively in a traffic environment composed of human drivers and do not adapt to local conditions and socio-cultural norms. It is known that socially aware AVs can be designed if…

Addressing safe and efficient interaction between connected and automated vehicles (CAVs) and human-driven vehicles in a mixed-traffic environment has attracted considerable attention. In this paper, we develop a framework for stochastic…

Autonomous driving has made significant strides through data-driven techniques, achieving robust performance in standardized tasks. However, existing methods frequently overlook user-specific preferences, offering limited scope for…

There is a growing trend toward AI systems interacting with humans to revolutionize a range of application domains such as healthcare and transportation. However, unsafe human-machine interaction can lead to catastrophic failures. We…

This paper presents an algorithmic framework for control synthesis of continuous dynamical systems subject to signal temporal logic (STL) specifications. We propose a novel algorithm to obtain a time-partitioned finite automaton from an STL…

Drivers' heterogeneity and the broad range of vehicle characteristics on public roads are primarily responsible for the stochasticity observed in road traffic dynamics. Understanding the behavioural differences in drivers (human or…

Formal control of cyber-physical systems allows for synthesis of control strategies from rich specifications such as temporal logics. However, the classes of systems that the formal approaches can be applied to is limited due to the…

Performance evaluation of urban autonomous vehicles requires a realistic model of the behavior of other road users in the environment. Learning such models from data involves collecting naturalistic data of real-world human behavior. In…

Mimicking human ability to forecast future positions or interpret complex interactions in urban scenarios, such as streets, shopping malls or squares, is essential to develop socially compliant robots or self-driving cars. Autonomous…