相关论文: Failure-Tolerant Contract-Based Design of an Autom…

This paper presents DMV-AVP, a distributed simulation of Multi-Vehicle Autonomous Valet Parking (AVP). The system was implemented as an application of the Distributed Multi-Autonomous Vehicle Architecture (DMAVA) for synchronized multi-host…

Autonomous Valet Parking (AVP) requires planning under partial observability, where parking spot availability evolves as dynamic agents enter and exit spots. Existing approaches either rely only on instantaneous spot availability or make…

There have been major developments in Automated Driving (AD) and Driving Assist Systems (ADAS) in recent years. However, their safety assurance, thus methodologies for testing, verification and validation AD/ADAS safety-critical…

Safety architectures play a crucial role in the safety assurance of automated driving vehicles (ADVs). They can be used as safety envelopes of black-box ADV controllers, and for graceful degradation from one ODD to another. Building on our…

The autonomous valet parking (AVP) functionality in self-driving vehicles is currently capable of handling most simple parking tasks. However, further training is necessary to enable the AVP algorithm to adapt to complex scenarios and…

Autonomous vehicles (AVs) promise efficient, clean and cost-effective transportation systems, but their reliance on sensors, wireless communications, and decision-making systems makes them vulnerable to cyberattacks and physical threats.…

The next ubiquitous computing platform, following personal computers and smartphones, is poised to be inherently autonomous, encompassing technologies like drones, robots, and self-driving cars. Ensuring reliability for these autonomous…

Contract-based design is a method to facilitate modular system design. While there has been substantial progress on the theory of contracts, there has been less progress on scalable algorithms for the algebraic operations in this theory. In…

The paper proposes a method for the correct by design coordination of autonomous driving systems (ADS). It builds on previous results on collision avoidance policies and the modeling of ADS by combining descriptions of their static…

Expansion of today's underwater scenarios and missions necessitates the requestion for robust decision making of the Autonomous Underwater Vehicle (AUV); hence, design an efficient decision making framework is essential for maximizing the…

Providing a higher level of decision autonomy and accompanying prompt changes of an uncertain environment is a true challenge of AUVs autonomous operations. The proceeding approach introduces a robust reactive structure that accommodates an…

Robots incurring component failures ought to adapt their behavior to best realize still-attainable goals under reduced capacity. We formulate the problem of planning with actuators known a priori to be susceptible to failure within the…

This paper introduces assume/guarantee contracts on continuous-time control systems, hereby extending contract theories for discrete systems to certain new model classes and specifications. Contracts are regarded as formal characterizations…

Automated Valet Parking (AVP) is a crucial component of advanced autonomous driving systems, focusing on the endpoint task within the "human-vehicle interaction" process to tackle the challenges of the "last mile".The perception module of…

Modern engineering systems include many components of different types and functions. Verifying that these systems satisfy given specifications can be an arduous task, as most formal verification methods are limited to systems of moderate…

For securing systems, it is essential to manage their vulnerability posture and design appropriate security controls. Vulnerability management allows to proactively address vulnerabilities by incorporating pertinent security controls into…

As simulation is increasingly used in scenario-based approaches to test Automated Driving Systems, the credibility of simulation results is a major concern. Arguably, credibility depends on the validity of the simulation setup and…

Designing large-scale control systems to satisfy complex specifications is hard in practice, as most formal methods are limited to systems of modest size. Contract theory has been proposed as a modular alternative to formal methods in…

With the fast expanding scale of vehicular networks, vehicular edge computing (VEC) has emerged and attracted growing attention from both industry and academia. Parked vehicles (PVs) have great potential to join vehicular networks for…

Environmental perception in Automated Valet Parking (AVP) has been a challenging task due to severe occlusions in parking garages. Although Collaborative Perception (CP) can be applied to broaden the field of view of connected vehicles, the…