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03/12/2023
Certifiably-correct Control Policies for Safe Learning and Adaptation in Assistive Robotics
Guaranteeing safety in human-centric applications is critical in robot l...
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03/08/2023
Safe Robot Learning in Assistive Devices through Neural Network Repair
Assistive robotic devices are a particularly promising field of applicat...
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10/14/2022
Risk-Awareness in Learning Neural Controllers for Temporal Logic Objectives
In this paper, we consider the problem of synthesizing a controller in t...
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08/16/2022
NMPC-LBF: Nonlinear MPC with Learned Barrier Function for Decentralized Safe Navigation of Multiple Robots in Unknown Environments
In this paper, we present a decentralized control approach based on a No...
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06/29/2022
Formalizing and Evaluating Requirements of Perception Systems for Automated Vehicles using Spatio-Temporal Perception Logic
Automated vehicles (AV) heavily depend on robust perception systems. Cur...
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12/30/2021
Risk-Bounded Control with Kalman Filtering and Stochastic Barrier Functions
In this paper, we study Stochastic Control Barrier Functions (SCBFs) to ...
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10/20/2021
Part-X: A Family of Stochastic Algorithms for Search-Based Test Generation with Probabilistic Guarantees
Requirements driven search-based testing (also known as falsification) h...
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09/28/2021
Local Repair of Neural Networks Using Optimization
In this paper, we propose a framework to repair a pre-trained feed-forwa...
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09/28/2021
Joint Communication and Motion Planning for Cobots
The increasing deployment of robots in co-working scenarios with humans ...
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08/17/2021
PerceMon: Online Monitoring for Perception Systems
Perception algorithms in autonomous vehicles are vital for the vehicle t...
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06/04/2021
PSY-TaLiRo: A Python Toolbox for Search-Based Test Generation for Cyber-Physical Systems
In this paper, we present the Python package PSY-TaLiRo which is a toolb...
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05/03/2021
Safe Navigation in Human Occupied Environments Using Sampling and Control Barrier Functions
Sampling-based methods such as Rapidly-exploring Random Trees (RRTs) hav...
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04/25/2020
Search-based Test-Case Generation by Monitoring Responsibility Safety Rules
The safety of Automated Vehicles (AV) as Cyber-Physical Systems (CPS) de...
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03/26/2020
DeepCrashTest: Turning Dashcam Videos into Virtual Crash Tests for Automated Driving Systems
The goal of this paper is to generate simulations with real-world collis...
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01/18/2020
Training Neural Network Controllers Using Control Barrier Functions in the Presence of Disturbances
Control Barrier Functions (CBF) have been recently utilized in the desig...
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08/02/2019
Requirements-driven Test Generation for Autonomous Vehicles with Machine Learning Components
Autonomous vehicles are complex systems that are challenging to test and...
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03/25/2019
Rapidly-exploring Random Trees-based Test Generation for Autonomous Vehicles
Autonomous vehicles are in an intensive research and development stage, ...
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01/11/2019
Model Checking Clinical Decision Support Systems Using SMT
Individual clinical Knowledge Artifacts (KA) are designed to be used in ...
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12/31/2018
Gray-box Adversarial Testing for Control Systems with Machine Learning Component
Neural Networks (NN) have been proposed in the past as an effective mean...
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04/18/2018
Simulation-based Adversarial Test Generation for Autonomous Vehicles with Machine Learning Components
Many organizations are developing autonomous driving systems, which are ...
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11/28/2017