相关论文: Certified Control: An Architecture for Verifiable …

While the most visible part of the safety verification process of automated vehicles concerns the planning and control system, it is often overlooked that safety of the latter crucially depends on the fault-tolerance of the preceding…

In the current control design of safety-critical autonomous systems, formal verification techniques are typically applied after the controller is designed to evaluate whether the required properties (e.g., safety) are satisfied. However,…

This article describes a fully automated, credible autocoding chain for control systems. The framework generates code, along with guarantees of high level functional properties which can be independently verified. It relies on domain…

Learning-enabled control systems have demonstrated impressive empirical performance on challenging control problems in robotics, but this performance comes at the cost of reduced transparency and lack of guarantees on the safety or…

Learning reliably safe autonomous control is one of the core problems in trustworthy autonomy. However, training a controller that can be formally verified to be safe remains a major challenge. We introduce a novel approach for learning…

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…

This paper presents a novel, safe control architecture (SCA) for controlling an important class of systems: safety-critical systems. Ensuring the safety of control decisions has always been a challenge in automatic control. The proposed SCA…

There is considerable industrial interest in integrating AI techniques into railway systems, notably for fully autonomous train systems. The KI-LOK research project is involved in developing new methods for certifying such AI-based systems.…

Control systems on unmanned vehicles are safety-critical systems whose requirements on reliability and safety are ever-increasing. Currently, testing a complex autonomous control system is an expensive and time-consuming process, which…

In this paper, we solve the problem of finding a certified control policy that drives a robot from any given initial state and under any bounded disturbance to the desired reference trajectory, with guarantees on the convergence or bounds…

Recent years have seen significant progress in the realm of robot autonomy, accompanied by the expanding reach of robotic technologies. However, the emergence of new deployment domains brings unprecedented challenges in ensuring safe…

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…

This paper proposes a Robust Safe Control Architecture (RSCA) for safe-decision making. The system to be controlled is a vehicle in the presence of bounded disturbances. The RSCA consists of two parts: a Supervisor MPC and a Controller MPC.…

Run Time Assurance (RTA) Systems are online verification mechanisms that filter an unverified primary controller output to ensure system safety. The primary control may come from a human operator, an advanced control approach, or an…

Neural certificates have emerged as a powerful tool in cyber-physical systems control, providing witnesses of correctness. These certificates, such as barrier functions, often learned alongside control policies, once verified, serve as…

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…

Automated driving systems can be helpful in a wide range of societal challenges, e.g., mobility-on-demand and transportation logistics for last-mile delivery, by aiding the vehicle driver or taking over the responsibility for the dynamic…

Autonomous robots deployed in shared human environments, such as agricultural settings, require rigorous safety assurance to meet both functional reliability and regulatory compliance. These systems must operate in dynamic, unstructured…

We present recent advances in formal verification and control for autonomous systems with practical safety guarantees enabled by conformal prediction (CP), a statistical tool for uncertainty quantification. This survey is particularly…

Learning-based methods provide a promising approach to solving highly non-linear control tasks that are often challenging for classical control methods. To ensure the satisfaction of a safety property, learning-based methods jointly learn a…