相关论文: Case Study: Runtime Safety Verification of Neural …

This paper explores the use of an extended neuroevolutionary approach, based on NeuroEvolution of Augmenting Topologies (NEAT), for autonomous robots in dynamic environments associated with hazardous tasks like firefighting, urban…

For safe navigation in dynamic uncertain environments, robotic systems rely on the perception and prediction of other agents. Particularly, in occluded areas where cameras and LiDAR give no data, the robot must be able to reason about…

Neuromorphic vision, inspired by biological neural systems, has recently gained significant attention for its potential in enhancing robotic autonomy. This paper presents a systematic exploration of a proposed Neuromorphic Navigation…

We consider the problem of intelligently navigating through complex traffic. Urban situations are defined by the underlying map structure and special regulatory objects of e.g. a stop line or crosswalk. Thereon dynamic vehicles (cars,…

Control Barrier Functions (CBFs) have been widely utilized in the design of optimization-based controllers and filters for dynamical systems to ensure forward invariance of a given set of safe states. While CBF-based controllers offer…

This paper presents the Neural Network Verification (NNV) software tool, a set-based verification framework for deep neural networks (DNNs) and learning-enabled cyber-physical systems (CPS). The crux of NNV is a collection of reachability…

As neural networks (NNs) become increasingly prevalent in safety-critical neural network-controlled cyber-physical systems (NNCSs), formally guaranteeing their safety becomes crucial. For these systems, safety must be ensured throughout…

This paper deals with the problem of time-constrained navigation of a robot modeled by uncertain nonlinear non-affine dynamics in a bounded workspace of $\mathbb{R}^n$. Initially, we provide a novel class of robust feedback controllers that…

Tactile sensors have been introduced to a wide range of robotic tasks such as robot manipulation to mimic the sense of human touch. However, there has only been a few works that integrate tactile sensing into robot navigation. This paper…

Neural networks have been increasingly employed in Model Predictive Controller (MPC) to control nonlinear dynamic systems. However, MPC still poses a problem that an achievable update rate is insufficient to cope with model uncertainty and…

Control barrier certificates have proven effective in formally guaranteeing the safety of the control systems. However, designing a control barrier certificate is a time-consuming and computationally expensive endeavor that requires expert…

This paper describes the application of a Convolutional Neural Network (CNN) in the context of a predator/prey scenario. The CNN is trained and run on data from a Dynamic and Active Pixel Sensor (DAVIS) mounted on a Summit XL robot (the…

We propose a policy search approach to learn controllers from specifications given as Signal Temporal Logic (STL) formulae. The system model, which is unknown but assumed to be an affine control system, is learned together with the control…

Industrial installations across several sectors have seen a dramatic increase in productivity, accuracy and efficiency over the last decade due to expanded utilization of medium voltage, variable speed power electronic converters to drive…

Neural networks (NN) are implemented as sub-grid flame models in a large-eddy simulation of a single-injector liquid-propellant rocket engine with the aim to replace a look-up table approach. The NN training process presents an…

This paper presents the implementation of a Recurrent Neural Network (RNN) based-controller for the stabilization of the flight transition maneuver (hover-cruise and vice versa) of a tail-sitter UAV. The control strategy is based on…

Planning safe motions for legged robots requires sophisticated safety verification tools. However, designing such tools for such complex systems is challenging due to the nonlinear and high-dimensional nature of these systems' dynamics. In…

To achieve successful field autonomy, mobile robots need to freely adapt to changes in their environment. Visual navigation systems such as Visual Teach and Repeat (VT&R) often assume the space around the reference trajectory is free, but…

Ensuring the functional safety of motion planning modules in autonomous vehicles remains a critical challenge, especially when dealing with complex or learning-based software. Online verification has emerged as a promising approach to…

We consider a new control strategy for marine navigation, equipped with finite-time convergence characteristics. We provide mathematical guarantees for waypoint reaching and obstacle avoidance for different encounter scenarios, by deriving…