相关论文: Formal verification of octorotor flight envelope u…
The prolific rise in autonomous systems has led to questions regarding their safe instantiation in real-world scenarios. Failures in safety-critical contexts such as human-robot interactions or even autonomous driving can ultimately lead to…
Simulation is essential to validate autonomous driving systems. However, a simple simulation, even for an extremely high number of simulated miles or hours, is not sufficient. We need well-founded criteria showing that simulation does…
A barrier certificate is an inductive invariant function which can be used for the safety verification of a hybrid system. Safety verification based on barrier certificate has the benefit of avoiding explicit computation of the exact…
Barrier certificates, a form of state invariants, provide an automated approach to the verification of the safety of dynamical systems. Similarly to barrier certificates, recent works explore the notion of closure certificates, a form of…
Verification of complex, safety-critical systems is a significant challenge. Manual testing and simulations are often used, but are only capable of exploring a subset of the system's reachable states. Formal methods are mathematically-based…
This paper details the theory and implementation behind practically ensuring safety of remotely piloted racing drones. We demonstrate robust and practical safety guarantees on a 7" racing drone at speeds exceeding 100 km/h, utilizing only…
This paper considers the general problem of transitioning theoretically safe controllers to hardware. Concretely, we explore the application of control barrier functions (CBFs) to sampled-data systems: systems that evolve continuously but…
The aim is to create reliable and verifiable fault detection software to detect abrupt changes in safety-critical dynamic systems. Fault detection methods are implemented as software on digital computers that monitor and control the system.…
Modern autopilot systems are prone to sensor attacks that can jeopardize flight safety. To mitigate this risk, we proposed a modular solution: the secure safety filter, which extends the well-established control barrier function (CBF)-based…
Quadrotors have demonstrated remarkable versatility, yet their full aerobatic potential remains largely untapped due to inherent underactuation and the complexity of aggressive maneuvers. Traditional approaches, separating trajectory…
We design a controller for an agent whose mission is to reach a stationary target while avoiding a family of obstacles which are not known a-priori. The agent moves in the two dimensional plane with non-trivial double integrator dynamics…
The design of robust orbitally stabilizing feedback is considered. From a known orbitally stabilizing controller for a nominal, disturbance-free system, a robustifying feedback extension is designed utilizing the sliding-mode control (SMC)…
In this paper, we propose a construction scheme for a Safe-visor architecture for sandboxing unverified controllers, e.g., artificial intelligence-based (a.k.a. AI-based) controllers, in two-players non-cooperative stochastic games.…
Runtime assurance (RTA) addresses the problem of keeping an autonomous system safe while using an untrusted (or experimental) controller. This can be done via logic that explicitly switches between the untrusted controller and a safety…
This paper proposes a safety-critical controller for dynamic and uncertain environments, leveraging a robust environment control barrier function (ECBF) to enhance the robustness against the measurement and prediction uncertainties…
Control tasks with safety requirements under high levels of model uncertainty are increasingly common. Machine learning techniques are frequently used to address such tasks, typically by leveraging model error bounds to specify robust…
Safety validation is a crucial component in the development and deployment of autonomous systems, such as self-driving vehicles and robotic systems. Ensuring safe operation necessitates extensive testing and verification of control…
Ensuring the safe operation of aerospace systems within their prescribed flight envelope is a fundamental requirement for modern flight control systems. Flight envelope protection (FEP) prevents violations of aerodynamic, structural, and…
This paper presents the validation of shared control strategies for critical maneuvers in automated driving systems. Shared control involves collaboration between the driver and automation, allowing both parties to actively engage and…
Landing safety is a challenge heavily engaging the research community recently, due to the increasing interest in applications availed by aerial vehicles. In this paper, we propose a landing safety pipeline based on state of the art object…