The safety filter: A unified view of safety-critical control in autonomous systems
Recent years have seen significant progress in the realm of robot autonomy, accompanied
by the expanding reach of robotic technologies. However, the emergence of new …
by the expanding reach of robotic technologies. However, the emergence of new …
Connected and automated road vehicles: state of the art and future challenges
The state of the art of modelling, control, and optimisation is discussed for automated road
vehicles that may utilise wireless vehicle-to-everything (V2X) connectivity. The appropriate …
vehicles that may utilise wireless vehicle-to-everything (V2X) connectivity. The appropriate …
Using online verification to prevent autonomous vehicles from causing accidents
Ensuring that autonomous vehicles do not cause accidents remains a challenge. We
present a formal verification technique for guaranteeing legal safety in arbitrary urban traffic …
present a formal verification technique for guaranteeing legal safety in arbitrary urban traffic …
Learning certified control using contraction metric
In this paper, we solve the problem of finding a certified control policy that drives a robot from
any given initial state and under any bounded disturbance to the desired reference …
any given initial state and under any bounded disturbance to the desired reference …
Fail-safe motion planning for online verification of autonomous vehicles using convex optimization
Safe motion planning for autonomous vehicles is a challenging task, since the exact future
motion of other traffic participant is usually unknown. In this article, we present a verification …
motion of other traffic participant is usually unknown. In this article, we present a verification …
Bridging the gap between safety and real-time performance in receding-horizon trajectory design for mobile robots
To operate with limited sensor horizons in unpredictable environments, autonomous robots
use a receding-horizon strategy to plan trajectories, wherein they execute a short plan while …
use a receding-horizon strategy to plan trajectories, wherein they execute a short plan while …
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 …
[HTML][HTML] Revisiting the internet of things: New trends, opportunities and grand challenges
The Internet of Things (IoT) is a conceptual paradigm that connects billions of Internet-
enabled devices to exchange data among themselves and their surroundings to enable …
enabled devices to exchange data among themselves and their surroundings to enable …
Reachability-based trajectory safeguard (RTS): A safe and fast reinforcement learning safety layer for continuous control
Reinforcement Learning (RL) algorithms have achieved remarkable performance in
decision making and control tasks by reasoning about long-term, cumulative reward using …
decision making and control tasks by reasoning about long-term, cumulative reward using …
Risk-aware motion planning for autonomous vehicles with safety specifications
Ensuring the safety of autonomous vehicles (AV s) in uncertain traffic scenarios is a major
challenge. In this paper, we address the problem of computing the risk that AV s violate a …
challenge. In this paper, we address the problem of computing the risk that AV s violate a …