相关论文: Safe Driving in Occluded Environments

Underwater vehicles are employed in the exploration of dynamic environments where tuning of a specific controller for each task would be time-consuming and unreliable as the controller depends on calculated mathematical coefficients in…

A framework is presented for handling a potential loss of observability of a dynamical system in a provably-safe way. Inspired by the fragility of data-driven perception systems used by autonomous vehicles, we formulate the problem that…

Probabilistic security assessment and real-time dynamic security assessments (DSA) are promising to better handle the risks of system operations. The current methodologies of security assessments may require many time-domain simulations for…

This work proposes a novel risk-perception-aware (RPA) control design using non-rational perception of risks associated with uncertain dynamic spatial costs. We use Cumulative Prospect Theory (CPT) to model the risk perception of a decision…

Navigating dynamic and unstructured environments poses significant challenges for autonomous robots, particularly due to the uncertainty introduced by occluded areas. Conventional sensing methods often fail to detect obstacles hidden behind…

Generating accurate runtime safety estimates for autonomous systems is vital to ensuring their continued proliferation. However, exhaustive reasoning about future behaviors is generally too complex to do at runtime. To provide scalable and…

Motion planning under uncertainty is one of the main challenges in developing autonomous driving vehicles. In this work, we focus on the uncertainty in sensing and perception, resulted from a limited field of view, occlusions, and sensing…

We consider the problem of safe real-time navigation of a robot in a dynamic environment with moving obstacles of arbitrary smooth geometries and input saturation constraints. We assume that the robot detects and models nearby obstacle…

Risk-aware navigation in unknown environments is a fundamental challenge for autonomous vehicles operating in complex urban systems. To address this issue, this paper presents a differentiable optimization layered safety-critical control…

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…

As industrial autonomous ground vehicles are increasingly deployed in safety-critical environments, ensuring their safe operation under diverse conditions is paramount. This paper presents a novel approach for their safety verification…

Real-world autonomous driving must adhere to complex human social rules that extend beyond legally codified traffic regulations. Many of these semantic constraints, such as yielding to emergency vehicles, complying with traffic officers'…

Navigating complex, cluttered, and unstructured environments that are a priori unknown presents significant challenges for autonomous ground vehicles, particularly when operating with a limited field of view(FOV) resulting in frequent…

Simulation-based testing remains the main approach for validating Autonomous Driving Systems. We propose a rigorous test method based on breaking down scenarios into simple ones, taking into account the fact that autopilots make decisions…

Ensuring the runtime safety of autonomous systems remains challenging due to deep learning components' inherent uncertainty and their sensitivity to environmental changes. In this paper, we propose an enhancement of traditional uncertainty…

Perception-based navigation systems are useful for unmanned ground vehicle (UGV) navigation in complex terrains, where traditional depth-based navigation schemes are insufficient. However, these data-driven methods are highly dependent on…

While it has been repeatedly shown that learning-based controllers can provide superior performance, they often lack of safety guarantees. This paper aims at addressing this problem by introducing a model predictive safety certification…

We develop a data-driven approach for runtime safety monitoring in flight testing, where pilots perform maneuvers on aircraft with uncertain parameters. Because safety violations can arise unexpectedly as a result of these uncertainties,…

Unfortunately, many people die in car accidents. To reduce these accidents, cars are equipped with driving safety systems. With autonomous vehicles, the driver's behavior becomes irrelevant as the car drives autonomously. All autonomous…

Certifying safety in dynamical systems is crucial, but barrier certificates - widely used to verify that system trajectories remain within a safe region - typically require explicit system models. When dynamics are unknown, data-driven…