相关论文: Run Time Assurance for Simultaneous Constraint Sat…

Continuum robots, characterized by their high flexibility and infinite degrees of freedom (DoFs), have gained prominence in applications such as minimally invasive surgery and hazardous environment exploration. However, the intrinsic…

This paper investigates the boresight alignment control problem under safety constraints and performance requirements, involving pointing-forbidden constraint, attitude angular velocity limitation, and pointing accuracy requirement.…

The introduction of remote attestation (RA) schemes has allowed academia and industry to enhance the security of their systems. The commercial products currently available enable only the validation of static properties, such as…

We propose Remote Attestation with TOCTOU Avoidance (RATA): a provably secure approach to address the RA TOCTOU problem. With RATA, even malware that erases itself before execution of the next RA, can not hide its ephemeral presence. RATA…

This paper presents a novel approach for ensuring safe operation of systems subject to input nonlinearities and time-varying safety constraints. We extend the time-varying barrier function framework to address time-varying safety…

Autonomous driving systems (ADSs) integrate sensing, perception, drive control, and several other critical tasks in autonomous vehicles, motivating research into techniques for assessing their safety. While there are several approaches for…

Autonomous robots are projected to significantly augment the manual workforce, especially in repetitive and hazardous tasks. For a successful deployment of such robots in human environments, it is crucial to guarantee human safety.…

The safety validation of Advanced Driver Assistance Systems (ADAS) and Automated Driving Systems (ADS) increasingly demands efficient and reliable methods to quantify residual risk while adhering to international standards such as ISO…

Data association is an essential part in the tracking-by-detection based Multi-Object Tracking (MOT). Most trackers focus on how to design a better data association strategy to improve the tracking performance. The rule-based handcrafted…

The attitude stabilization of a micro-satellite employing a variable-amplitude cold gas thruster which reflects as a time varying gain on the control input is considered. Existing literature uses a persistence filter based approach that…

Reinforcement learning (RL) has been widely used in decision-making and control tasks, but the risk is very high for the agent in the training process due to the requirements of interaction with the environment, which seriously limits its…

In time-critical systems, such as air traffic control systems, it is crucial to design control policies that are robust to timing uncertainty. Recently, the notion of Asynchronous Temporal Robustness (ATR) was proposed to capture the…

The key innovation of our analytical method, CaRT, lies in establishing a new hierarchical, distributed architecture to guarantee the safety and robustness of a given learning-based motion planning policy. First, in a nominal setting, the…

Over the last decade, there has been increasing interest in autonomous driving systems. Reinforcement Learning (RL) shows great promise for training autonomous driving controllers, being able to directly optimize a combination of criteria…

Recently, safe reinforcement learning (RL) with the actor-critic structure for continuous control tasks has received increasing attention. It is still challenging to learn a near-optimal control policy with safety and convergence…

Achieving rapid and effective active collision avoidance in dynamic interactive traffic remains a core challenge for autonomous driving. This paper proposes REACT (Runtime-Enabled Active Collision-avoidance Technique), a closed-loop…

A self-adaptive software system modifies its behavior at runtime in response to changes within the system or in its execution environment. The fulfillment of the system requirements needs to be guaranteed even in the presence of adverse…

Despite progress in end-to-end ASR, real-world domain mismatches still cause performance drops, which Test-Time Adaptation (TTA) aims to mitigate by adjusting models during inference. Recent work explores combining TTA with external…

This paper presents an application of specification based runtime verification techniques to control mobile robots in a reactive manner. In our case study, we develop a layered control architecture where runtime monitors constructed from…

Small Unmanned Aircraft Systems (sUAS) have gained widespread adoption across a diverse range of applications. This has introduced operational complexities within shared airspaces and an increase in reported incidents, raising safety…