相关论文: NNLander-VeriF: A Neural Network Formal Verificati…

Model-based reinforcement learning (RL) has emerged as a promising tool for developing controllers for real world systems (e.g., robotics, autonomous driving, etc.). However, real systems often have constraints imposed on their state space…

As machine learning is increasingly deployed in autonomous systems, verification of neural network controllers is becoming an active research domain. Existing tools and annual verification competitions suggest that soon this technology will…

We study the problem of safety verification of direct perception neural networks, where camera images are used as inputs to produce high-level features for autonomous vehicles to make control decisions. Formal verification of direct…

Precise near-ground trajectory control is difficult for multi-rotor drones, due to the complex aerodynamic effects caused by interactions between multi-rotor airflow and the environment. Conventional control methods often fail to properly…

Deploying deep neural networks (DNNs) as core functions in autonomous driving creates unique verification and validation challenges. In particular, the continuous engineering paradigm of gradually perfecting a DNN-based perception can make…

Deep Neural Networks are increasingly adopted in critical tasks that require a high level of safety, e.g., autonomous driving. While state-of-the-art verifiers can be employed to check whether a DNN is unsafe w.r.t. some given property…

Inverse problems exist in a wide variety of physical domains from aerospace engineering to medical imaging. The goal is to infer the underlying state from a set of observations. When the forward model that produced the observations is…

Flying insects are capable of vision-based navigation in cluttered environments, reliably avoiding obstacles through fast and agile maneuvers, while being very efficient in the processing of visual stimuli. Meanwhile, autonomous micro air…

We present a safety verification framework for design-time and run-time assurance of learning-based components in aviation systems. Our proposed framework integrates two novel methodologies. From the design-time assurance perspective, we…

In recent years, artificial neural networks have been increasingly studied as feedback controllers for guidance problems. While effective in complex scenarios, they lack the verification guarantees found in classical guidance policies.…

Aerial Vision-and-Language Navigation (VLN) aims to enable unmanned aerial vehicles (UAVs) to interpret natural language instructions and navigate complex urban environments using onboard visual observation. This task holds promise for…

Software development in the aerospace domain requires adhering to strict, high-quality standards. While there exist regulatory guidelines for commercial software in this domain (e.g., ARP-4754 and DO-178), these do not apply to software…

Neural network controllers (NNCs) have shown great promise in autonomous and cyber-physical systems. Despite the various verification approaches for neural networks, the safety analysis of NNCs remains an open problem. Existing verification…

Neural networks (NNs) are increasingly applied in safety-critical systems such as autonomous vehicles. However, they are fragile and are often ill-behaved. Consequently, their behaviors should undergo rigorous guarantees before deployment…

QuadPlanes combine the range efficiency of fixed-wing aircraft with the maneuverability of multi-rotor platforms for long-range autonomous missions. In GPS-denied or cluttered urban environments, perception-based landing is vital for…

UAV control system is a huge and complex system, and to design and test a UAV control system is time-cost and money-cost. This paper considered the simulation of identification of a nonlinear system dynamics using artificial neural networks…

Deep neural networks can be trained to be efficient and effective controllers for dynamical systems; however, the mechanics of deep neural networks are complex and difficult to guarantee. This work presents a general approach for providing…

As deep neural networks (DNNs) are becoming the prominent solution for many computational problems, the aviation industry seeks to explore their potential in alleviating pilot workload and in improving operational safety. However, the use…

While Unmanned Aerial Vehicles (UAVs) are increasingly deployed in several missions, their inability of reliable and consistent autonomous landing poses a major setback for deploying such systems truly autonomously. In this paper we present…

This paper aims to enhance the computational efficiency of safety verification of neural network control systems by developing a guaranteed neural network model reduction method. First, a concept of model reduction precision is proposed to…