相关论文: Metamorphic Testing in Autonomous System Simulatio…

Deep neural networks (DNN), while becoming the driving force of many novel technology and achieving tremendous success in many cutting-edge applications, are still vulnerable to adversarial attacks. Differentiable neural computer (DNC) is a…

Success in racing requires a unique combination of vehicle setup, understanding of the racetrack, and human expertise. Since building and testing many different vehicle configurations in the real world is prohibitively expensive,…

Discovering potential failures of an autonomous system is important prior to deployment. Falsification-based methods are often used to assess the safety of such systems, but the cost of running many accurate simulation can be high. The…

Reasoning about safety, security, and other dependability attributes of autonomous systems is a challenge that needs to be addressed before the adoption of such systems in day-to-day life. Formal methods is a class of methods that…

We present an online multi-task learning approach for adaptive nonlinear control, which we call Online Meta-Adaptive Control (OMAC). The goal is to control a nonlinear system subject to adversarial disturbance and unknown…

Reference tracking and obstacle avoidance rank among the foremost challenging aspects of autonomous driving. This paper proposes control designs for solving reference tracking problems in autonomous driving tasks while considering static…

Imitation learning is a promising approach to end-to-end training of autonomous vehicle controllers. Typically the driving process with such approaches is entirely automatic and black-box, although in practice it is desirable to control the…

The assessment of safety performance plays a pivotal role in the development and deployment of connected and automated vehicles (CAVs). A common approach involves designing testing scenarios based on prior knowledge of CAVs (e.g., surrogate…

Machine learning-based malware detection systems are often vulnerable to evasion attacks, in which a malware developer manipulates their malicious software such that it is misclassified as benign. Such software hides some properties of the…

Ensuring constraint satisfaction is a key requirement for safety-critical systems, which include most robotic platforms. For example, constraints can be used for modeling joint position/velocity/torque limits and collision avoidance.…

Unmanned aerial vehicles, and multi-rotors in particular, can now perform dexterous tasks in impervious environments, from infrastructure monitoring to emergency deliveries. Autonomous drone racing has emerged as an ideal benchmark to…

Finding the most likely path to a set of failure states is important to the analysis of safety-critical systems that operate over a sequence of time steps, such as aircraft collision avoidance systems and autonomous cars. In many…

Formation control methods of connected and automated vehicles have been proposed to smoothly switch the structure of vehicular formations in different scenarios. In the previous research, simulations are often conducted to verify the…

Domain adaptation aims at improving model performance by leveraging the learned knowledge in the source domain and transferring it to the target domain. Recently, domain adversarial methods have been particularly successful in alleviating…

While automated driving technology has achieved a tremendous progress, the scalable and rigorous testing and verification of safe automated and autonomous driving vehicles remain challenging. This paper proposes a learning-based…

Soft robotics holds transformative potential for enabling adaptive and adaptable systems in dynamic environments. However, the interplay between morphological and control complexities and their collective impact on task performance remains…

Accurately modeling robot dynamics is crucial to safe and efficient motion control. In this paper, we develop and apply an iterative learning semi-parametric model, with a neural network, to the task of autonomous racing with a Model…

We present a scalable algorithm for learning parametric constraints in high dimensions from safe expert demonstrations. To reduce the ill-posedness of the constraint recovery problem, our method uses hit-and-run sampling to generate lower…

The assurance of real-time properties is prone to context variability. Providing such assurance at design time would require to check all the possible context and system variations or to predict which one will be actually used. Both cases…

With the rapidly growing interest in autonomous navigation, the body of research on motion planning and collision avoidance techniques has enjoyed an accelerating rate of novel proposals and developments. However, the complexity of new…