Formal methods to comply with rules of the road in autonomous driving: State of the art and grand challenges
We provide a review of recent work on formal methods for autonomous driving. Formal
methods have been traditionally used to specify and verify the behavior of computer …
methods have been traditionally used to specify and verify the behavior of computer …
Safe planning and control under uncertainty for self-driving
Motion planning under uncertainty is critical for safe self-driving. This paper proposes a
unified obstacle avoidance framework that deals with 1) uncertainty in ego-vehicle motion; …
unified obstacle avoidance framework that deals with 1) uncertainty in ego-vehicle motion; …
Safe planning for self-driving via adaptive constrained ILQR
Constrained Iterative Linear Quadratic Regulator (CILQR), a variant of ILQR, has been
recently proposed for motion planning problems of autonomous vehicles to deal with …
recently proposed for motion planning problems of autonomous vehicles to deal with …
Formally verified self-adaptation of an incubator digital twin
T Wright, C Gomes, J Woodcock - International Symposium on Leveraging …, 2022 - Springer
The performance and reliability of Cyber-Physical Systems are increasingly aided through
the use of digital twins, which mirror the static and dynamic behaviour of a Cyber-Physical …
the use of digital twins, which mirror the static and dynamic behaviour of a Cyber-Physical …
The black-box simplex architecture for runtime assurance of autonomous CPS
Abstract The Simplex Architecture is a runtime assurance framework where control authority
may switch from an unverified and potentially unsafe advanced controller to a backup …
may switch from an unverified and potentially unsafe advanced controller to a backup …
A verification framework for certifying learning-based safety-critical aviation systems
View Video Presentation: https://doi. org/10.2514/6.2022-3965. vid We present a safety
verification framework for design-time and run-time assurance of learning-based …
verification framework for design-time and run-time assurance of learning-based …
Safe cps from unsafe controllers
Modern cyber-physical systems (CPS) interact with the physical world, hence their
correctness is important. In this work, we build upon the Simplex Architecture, where control …
correctness is important. In this work, we build upon the Simplex Architecture, where control …
An Empirical Analysis of the Use of Real-Time Reachability for the Safety Assurance of Autonomous Vehicles
Recent advances in machine learning technologies and sensing have paved the way for the
belief that safe, accessible, and convenient autonomous vehicles may be realized in the …
belief that safe, accessible, and convenient autonomous vehicles may be realized in the …
The black-box simplex architecture for runtime assurance of multi-agent CPS
Abstract The Simplex Architecture is a runtime assurance framework where control authority
may switch from an unverified and potentially unsafe advanced controller to a backup …
may switch from an unverified and potentially unsafe advanced controller to a backup …
Online Reachability Analysis and Space Convexification for Autonomous Racing
This paper presents an optimisation-based approach for an obstacle avoidance problem
within an autonomous vehicle racing context. Our control regime leverages online …
within an autonomous vehicle racing context. Our control regime leverages online …