相关论文: Formal Estimation of Collision Risks for Autonomou…
This work explores a collaborative method for ensuring safety in multi-agent formation control problems. We formulate a control barrier function (CBF) based safety filter control law for a generic distributed formation controller and extend…
Safety evaluation of self-driving technologies has been extensively studied. One recent approach uses Monte Carlo based evaluation to estimate the occurrence probabilities of safety-critical events as safety measures. These Monte Carlo…
This paper is concerned with a compositional approach for the construction of control barrier certificates for large-scale interconnected stochastic systems while synthesizing hybrid controllers against high-level logic properties. Our…
Path planning for autonomous vehicles in arbitrary environments requires a guarantee of safety, but this can be impractical to ensure in real-time when the vehicle is described with a high-fidelity model. To address this problem, this paper…
We present an analytical method to estimate the continuous-time collision probability of motion plans for autonomous agents with linear controlled Ito dynamics. Motion plans generated by planning algorithms cannot be perfectly executed by…
Autonomous vehicles (AV) are becoming a part of humans' everyday life. There are numerous pilot projects of driverless public buses; some car manufacturers deliver their premium-level automobiles with advanced self-driving features. Thus,…
We propose a fully distributed control system architecture, amenable to in-vehicle implementation, that aims to safely coordinate connected and automated vehicles (CAVs) at road intersections. For control purposes, we build upon a fully…
In this work, we propose a compositional scheme based on small-gain reasoning to synthesize safety controllers for interconnected stochastic hybrid systems. In our proposed setting, we first offer an augmented scheme that characterizes each…
To be applicable to real world scenarios trajectory planning schemes for mobile autonomous systems must be able to efficiently deal with obstacles in the area of operation. In the context of optimization based trajectory planning and…
This paper presents a novel methodology to enforce motion safety guarantees even in the event of a sudden loss of control capabilities by any agent within a multi-agent system. This passive safety methodology permits the replacement of…
Due to the complexity of the natural world, a programmer cannot foresee all possible situations, a connected and autonomous vehicle (CAV) will face during its operation, and hence, CAVs will need to learn to make decisions autonomously. Due…
The capability to follow a lead-vehicle and avoid rear-end collisions is one of the most important functionalities for human drivers and various Advanced Driver Assist Systems (ADAS). Existing safety performance justification of the…
We present a fully distributed collision avoidance algorithm based on convex optimization for a team of mobile robots. This method addresses the practical case in which agents sense each other via measurements from noisy on-board sensors…
Trajectory prediction is essential for autonomous vehicles (AVs) to plan correct and safe driving behaviors. While many prior works aim to achieve higher prediction accuracy, few study the adversarial robustness of their methods. To bridge…
This paper focuses on safety performance testing and characterization of black-box highly automated vehicles (HAV). Existing testing approaches typically obtain the testing outcomes by deploying the HAV into a specific testing environment.…
Recent automated vehicle (AV) motion planning strategies evolve around minimizing risk in road traffic. However, they exclusively consider risk from the AV's perspective and, as such, do not address the ethicality of its decisions for other…
The development of Autonomous Vehicles (AV) presents an opportunity to save and improve lives. However, achieving SAE Level 5 (full) autonomy will require overcoming many technical challenges. There is a gap in the literature regarding the…
This paper studies the problem of control strategy synthesis for dynamical systems with differential constraints to fulfill a given reachability goal while satisfying a set of safety rules. Particular attention is devoted to goals that…
In a future connected vehicle environment, an optimized route and motion planning should not only fulfill efficiency and safety constraints but also minimize vehicle motions and oscillations, causing poor ride comfort perceived by…
Existing evaluation paradigms for Autonomous Vehicles (AVs) face critical limitations. Real-world evaluation is often challenging due to safety concerns and a lack of reproducibility, whereas closed-loop simulation can face insufficient…