相关论文: Safe Driving in Occluded Environments

Autonomous systems with machine learning-based perception can exhibit unpredictable behaviors that are difficult to quantify, let alone verify. Such behaviors are convenient to capture in probabilistic models, but probabilistic model…

Trajectory prediction is significant for intelligent vehicles to achieve high-level autonomous driving, and a lot of relevant research achievements have been made recently. Despite the rapid development, most existing studies solely focused…

We investigate the problem of establishing finite-time probabilistic safety guarantees for discrete-time stochastic dynamical systems subject to unknown disturbance distributions, using barrier certificate methods. Our approach develops a…

This paper presents a novel methodology to enforce motion safety guarantees even in the event of a sudden loss of control capabilities by any agent within a multi-agent system. This passive safety methodology permits the replacement of…

Safe autonomous navigation is an essential and challenging problem for robots operating in highly unstructured or completely unknown environments. Under these conditions, not only robotic systems must deal with limited localisation…

Accurate quantification of safety is essential for the design of autonomous systems. In this paper, we present a methodology to characterize the exact probabilities associated with invariance and recovery in safe control. We consider a…

We introduce a simple but effective method for managing risk in model-based reinforcement learning with trajectory sampling that involves probabilistic safety constraints and balancing of optimism in the face of epistemic uncertainty and…

We investigate the problem of safe control synthesis for systems operating in environments with uncontrollable agents whose dynamics are unknown but coupled with those of the controlled system. This scenario naturally arises in various…

The problem of safely learning and controlling a dynamical system - i.e., of stabilizing an originally (partially) unknown system while ensuring that it does not leave a prescribed 'safe set' - has recently received tremendous attention in…

Reinforcement learning is nowadays a popular framework for solving different decision making problems in automated driving. However, there are still some remaining crucial challenges that need to be addressed for providing more reliable…

This paper proposes a risk-aware control approach to enforce safety for discrete-time nonlinear systems subject to stochastic uncertainties. We derive some useful results on the worst-case Conditional Value-at-Risk (CVaR) and define a…

End-to-end vision-based imitation learning has demonstrated promising results in autonomous driving by learning control commands directly from expert demonstrations. However, traditional approaches rely on either regressionbased models,…

The safe trajectory planning of intelligent and connected vehicles is a key component in autonomous driving technology. Modeling the environment risk information by field is a promising and effective approach for safe trajectory planning.…

Approaches to keeping a dynamical system within state constraints typically rely on a model-based safety condition to limit the control signals. In the face of significant modeling uncertainty, the system can suffer from important…

Collecting a high-quality dataset is a critical task that demands meticulous attention to detail, as overlooking certain aspects can render the entire dataset unusable. Autonomous driving challenges remain a prominent area of research,…

Autonomous vehicles (AVs) are rapidly advancing and are expected to play a central role in future mobility. Ensuring their safe deployment requires reliable interaction with other road users, not least pedestrians. Direct testing on public…

This paper investigates runtime monitoring of perception systems. Perception is a critical component of high-integrity applications of robotics and autonomous systems, such as self-driving cars. In these applications, failure of perception…

Control tasks with safety requirements under high levels of model uncertainty are increasingly common. Machine learning techniques are frequently used to address such tasks, typically by leveraging model error bounds to specify robust…

Designing diverse and safety-critical driving scenarios is essential for evaluating autonomous driving systems. In this paper, we propose a novel framework that leverages Large Language Models (LLMs) for few-shot code generation to…

In large-scale networks of uncertain dynamical systems, where communication is limited and there is a strong interaction among subsystems, learning local models and control policies offers great potential for designing high-performance…