相关论文: Symbolic Runtime Verification and Adaptive Decisio…
Motivated by reduction of computational complexity, this work develops sign-error adaptive filtering algorithms for estimating time-varying system parameters. Different from the previous work on sign-error algorithms, the parameters are…
Model-based reinforcement learning is attractive for sequential decision-making because it explicitly estimates reward and transition models and then supports planning through simulated rollouts. In offline settings with hidden confounding,…
Autonomous robots must utilize rich sensory data to make safe control decisions. To process this data, compute-constrained robots often require assistance from remote computation, or the cloud, that runs compute-intensive deep neural…
Nonlinear, adaptive, or otherwise complex control techniques are increasingly relied upon to ensure the safety of systems operating in uncertain environments. However, the nonlinearity of the resulting closed-loop system complicates…
The Supreme Court plays an extremely critical role in ensuring adherence to the rule of law and in strengthening the democracy. Due to this reason, modeling and analysis of small group interactions in the courtroom setting is an important…
This paper targets the efficient construction of a safety shield for decision making in scenarios that incorporate uncertainty. Markov decision processes (MDPs) are prominent models to capture such planning problems. Reinforcement learning…
In many human-in-the-loop robotic applications such as robot-assisted surgery and remote teleoperation, predicting the intended motion of the human operator may be useful for successful implementation of shared control, guidance virtual…
Statistical model checking (SMC) is a technique for analysis of probabilistic systems that may be (partially) unknown. We present an SMC algorithm for (unbounded) reachability yielding probably approximately correct (PAC) guarantees on the…
This work proposes a mathematical framework to increase the robustness to rare events of digital twins modelled with graphical models. We incorporate probabilistic model-checking and linear programming into a dynamic Bayesian network to…
Many embedded and real-time systems have a inherent probabilistic behaviour (sensors data, unreliable hardware,...). In that context, it is crucial to evaluate system properties such as "the probability that a particular hardware fails".…
Robots are still poor at traversing cluttered large obstacles required for important applications like search and rescue. By contrast, animals are excellent at doing so, often using direct physical interaction with obstacles rather than…
We introduce a novel simulation-based approach to identify hazards that result from unexpected worker behavior in human-robot collaboration. Simulation-based safety testing must take into account the fact that human behavior is variable and…
We study safe, data-driven control of (Markov) jump linear systems with unknown transition probabilities, where both the discrete mode and the continuous state are to be inferred from output measurements. To this end, we develop a receding…
We investigate the problem of monitoring partially observable systems with nondeterministic and probabilistic dynamics. In such systems, every state may be associated with a risk, e.g., the probability of an imminent crash. During runtime,…
Maintaining safety under adaptation has long been considered to be an important capability for autonomous systems. As these systems estimate and change the ego-model of the system dynamics, questions regarding how to develop safety…
In this paper, we propose a probabilistic consensus-based multi-robot search strategy that is robust to communication link failures, and thus is suitable for disaster affected areas. The robots, capable of only local communication, explore…
Model predictive control is a powerful tool to generate complex motions for robots. However, it often requires solving non-convex problems online to produce rich behaviors, which is computationally expensive and not always practical in real…
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…
Probabilistic Computation Tree Logic (PCTL) is frequently used to formally specify control objectives such as probabilistic reachability and safety. In this work, we focus on model checking PCTL specifications statistically on Markov…
Human motion prediction is non-trivial in modern industrial settings. Accurate prediction of human motion can not only improve efficiency in human robot collaboration, but also enhance human safety in close proximity to robots. Among…