相关论文: Falsification of Autonomous Systems in Rich Enviro…

Cyber-Physical Systems (CPSs), comprising both software and physical components, arise in many industry-relevant domains and are often mission- or safety-critical. System-Level Verification (SLV) of CPSs aims at certifying that given (e.g.,…

Optimizing CPS behavior in terms of energy consumption can have a significant impact on system reliability. The environment influences the system's behavior, and neglecting the environmental behavior has an indirect negative impact on…

We present a versatile NeRF-based simulator for testing autonomous driving (AD) software systems, designed with a focus on sensor-realistic closed-loop evaluation and the creation of safety-critical scenarios. The simulator learns from…

The rapid evolution of Cyber-Physical Systems (CPS) across various domains like mobility systems, networked control systems, sustainable manufacturing, smart power grids, and the Internet of Things necessitates innovative solutions that…

In this work, we propose a self-improving artificial intelligence system to enhance the safety performance of reinforcement learning (RL)-based autonomous driving (AD) agents using black-box verification methods. RL algorithms have become…

We study how to safely control nonlinear control-affine systems that are corrupted with bounded non-stochastic noise, i.e., noise that is unknown a priori and that is not necessarily governed by a stochastic model. We focus on safety…

While conventional reinforcement learning focuses on designing agents that can perform one task, meta-learning aims, instead, to solve the problem of designing agents that can generalize to different tasks (e.g., environments, obstacles,…

This paper explores the application of CNN-DNN network fusion to construct a robot navigation controller within a simulated environment. The simulated environment is constructed to model a subterranean rescue situation, such that an…

Cyber Physical Systems (CPSs) are often black box systems for which no exact model exists. Automata learning allows to build abstract models of CPSs and is used in several scenarios, i.e. simulation, monitoring, and test case generation.…

An open question in autonomous driving is how best to use simulation to validate the safety of autonomous vehicles. Existing techniques rely on simulated rollouts, which can be inefficient for finding rare failure events, while other…

How can the stability and efficiency of Artificial Neural Networks (ANNs) be ensured through a systematic analysis method? This paper seeks to address that query. While numerous factors can influence the learning process of ANNs, utilizing…

Simulation systems have become an essential component in the development and validation of autonomous driving technologies. The prevailing state-of-the-art approach for simulation is to use game engines or high-fidelity computer graphics…

Neural networks serve as effective controllers in a variety of complex settings due to their ability to represent expressive policies. The complex nature of neural networks, however, makes their output difficult to verify and predict, which…

Adversarial examples pose a security threat to many critical systems built on neural networks (such as face recognition systems, and self-driving cars). While many methods have been proposed to build robust models, how to build certifiably…

Requirements driven search-based testing (also known as falsification) has proven to be a practical and effective method for discovering erroneous behaviors in Cyber-Physical Systems. Despite the constant improvements on the performance and…

Autonomous systems, such as self-driving vehicles, quadrupeds, and robot manipulators, are largely enabled by the rapid development of artificial intelligence. However, such systems involve several trustworthy challenges such as safety,…

In recent years, advancements have been made towards the goal of using chaotic coverage path planners for autonomous search and traversal of spaces with limited environmental cues. However, the state of this field is still in its infancy as…

Neural network (NN) controllers achieve strong empirical performance on nonlinear dynamical systems, yet deploying them in safety-critical settings requires robustness to disturbances and uncertainty. We present a method for jointly…

Cyber-physical systems (CPS), which integrate algorithmic control with physical processes, often consist of physically distributed components communicating over a network. A malfunctioning or compromised component in such a CPS can lead to…

This paper introduces SmartBSP, an advanced self-supervised learning framework for real-time path planning and obstacle avoidance in autonomous robotics navigating through complex environments. The proposed system integrates Proximal Policy…