相关论文: Safe Adaptive Cruise Control Under Perception Unce…

Autonomous driving depends on perception systems to understand the environment and to inform downstream decision-making. While advanced perception systems utilizing black-box Deep Neural Networks (DNNs) demonstrate human-like comprehension,…

This paper presents a deep learning based model predictive control algorithm for control affine nonlinear discrete time systems with matched and bounded state-dependent uncertainties of unknown structure. Since the structure of…

Adaptive Cruise Control (ACC) is a widely used driver assistance technology for maintaining the desired speed and safe distance to the leading vehicle. This paper evaluates the security of the deep neural network (DNN) based ACC systems…

Uncertainty in control and perception poses challenges for autonomous vehicle navigation in unstructured environments, leading to navigation failures and potential vehicle damage. This paper introduces a framework that minimizes control and…

In this paper, we investigate a predictive approach for collision risk assessment in autonomous and assisted driving. A deep predictive model is trained to anticipate imminent accidents from traditional video streams. In particular, the…

Learning-based control aims to construct models of a system to use for planning or trajectory optimization, e.g. in model-based reinforcement learning. In order to obtain guarantees of safety in this context, uncertainty must be accurately…

This paper presents a deep learning based model predictive control algorithm for control affine nonlinear discrete time systems with matched and bounded state dependent uncertainties of unknown structure. Since the structure of…

Deep-learning-based data-driven forecasting methods have produced impressive results for traffic forecasting. A major limitation of these methods, however, is that they provide forecasts without estimates of uncertainty, which are critical…

Conformal prediction is an uncertainty quantification method that constructs a prediction set for a previously unseen datum, ensuring the true label is included with a predetermined coverage probability. Adaptive conformal prediction has…

In this paper, we present a novel information processing architecture for safe deep learning-based visual navigation of autonomous systems. The proposed information processing architecture is used to support a perceptual attention-based…

Safety constraints of nonlinear control systems are commonly enforced through the use of control barrier functions (CBFs). Uncertainties in the dynamic model can disrupt forward invariance guarantees or cause the state to be restricted to…

Uncertainties in Deep Neural Network (DNN)-based perception and vehicle's motion pose challenges to the development of safe autonomous driving vehicles. In this paper, we propose a safe motion planning framework featuring the quantification…

Safety assurance is critical in the planning and control of robotic systems. For robots operating in the real world, the safety-critical design often needs to explicitly address uncertainties and the pre-computed guarantees often rely on…

Human motion is stochastic and ensuring safe robot navigation in a pedestrian-rich environment requires proactive decision-making. Past research relied on incorporating deterministic future states of surrounding pedestrians which can be…

Advances in computer vision and machine learning enable robots to perceive their surroundings in powerful new ways, but these perception modules have well-known fragilities. We consider the problem of synthesizing a safe controller that is…

To assure that an autonomous car is driving safely on public roads, its object detection module should not only work correctly, but show its prediction confidence as well. Previous object detectors driven by deep learning do not explicitly…

Predicting the motion of a driver's vehicle is crucial for advanced driving systems, enabling detection of potential risks towards shared control between the driver and automation systems. In this paper, we propose a variational neural…

We propose a learning-based robust predictive control algorithm that compensates for significant uncertainty in the dynamics for a class of discrete-time systems that are nominally linear with an additive nonlinear component. Such systems…

We consider perception-based control using state estimates that are obtained from high-dimensional sensor measurements via learning-enabled perception maps. However, these perception maps are not perfect and result in state estimation…

We present a novel robust control framework for continuous-time, perturbed nonlinear dynamical systems with uncertainty that depends nonlinearly on both the state and control inputs. Unlike conventional approaches that impose structural…