A survey of algorithms for black-box safety validation of cyber-physical systems
Autonomous cyber-physical systems (CPS) can improve safety and efficiency for safety-
critical applications, but require rigorous testing before deployment. The complexity of these …
critical applications, but require rigorous testing before deployment. The complexity of these …
[图书][B] Planning algorithms
SM LaValle - 2006 - books.google.com
Planning algorithms are impacting technical disciplines and industries around the world,
including robotics, computer-aided design, manufacturing, computer graphics, aerospace …
including robotics, computer-aided design, manufacturing, computer graphics, aerospace …
Particle RRT for path planning with uncertainty
NA Melchior, R Simmons - Proceedings 2007 IEEE …, 2007 - ieeexplore.ieee.org
This paper describes a new extension to the rapidly-exploring random tree (RRT) path
planning algorithm. The particle RRT algorithm explicitly considers uncertainty in its domain …
planning algorithm. The particle RRT algorithm explicitly considers uncertainty in its domain …
Probabilistic temporal logic falsification of cyber-physical systems
We present a Monte-Carlo optimization technique for finding system behaviors that falsify a
metric temporal logic (MTL) property. Our approach performs a random walk over the space …
metric temporal logic (MTL) property. Our approach performs a random walk over the space …
Motion planning with dynamics by a synergistic combination of layers of planning
To efficiently solve challenges related to motion-planning problems with dynamics, this
paper proposes treating motion planning not just as a search problem in a continuous space …
paper proposes treating motion planning not just as a search problem in a continuous space …
Monte-carlo techniques for falsification of temporal properties of non-linear hybrid systems
We present a Monte-Carlo optimization technique for finding inputs to a system that falsify a
given Metric Temporal Logic (MTL) property. Our approach performs a random walk over the …
given Metric Temporal Logic (MTL) property. Our approach performs a random walk over the …
Falsification of temporal properties of hybrid systems using the cross-entropy method
S Sankaranarayanan, G Fainekos - Proceedings of the 15th ACM …, 2012 - dl.acm.org
Randomized testing is a popular approach for checking properties of large embedded
system designs. It is well known that a uniform random choice of test inputs is often sub …
system designs. It is well known that a uniform random choice of test inputs is often sub …
Neural bridge sampling for evaluating safety-critical autonomous systems
Learning-based methodologies increasingly find applications in safety-critical domains like
autonomous driving and medical robotics. Due to the rare nature of dangerous events, real …
autonomous driving and medical robotics. Due to the rare nature of dangerous events, real …
High-frequency replanning under uncertainty using parallel sampling-based motion planning
As sampling-based motion planners become faster, they can be reexecuted more frequently
by a robot during task execution to react to uncertainty in robot motion, obstacle motion …
by a robot during task execution to react to uncertainty in robot motion, obstacle motion …
Robustness of temporal logic specifications
GE Fainekos, GJ Pappas - … Workshop on Formal Approaches to Software …, 2006 - Springer
In this paper, we consider the robust interpretation of metric temporal logic (MTL) formulas
over timed sequences of states. For systems whose states are equipped with nontrivial …
over timed sequences of states. For systems whose states are equipped with nontrivial …