79 citations · 216 across the 12 of their papers we have counts for
12 papers
Results of the 2023 CommonRoad Motion Planning Competition for Autonomous Vehicles
Niklas Kochdumper, Youran Wang, Johannes Betz +1
In recent years, different approaches for motion planning of autonomous vehicles have been proposed that can handle complex traffic situations. However, these approaches are rarely…
Real-Time Capable Decision Making for Autonomous Driving Using Reachable Sets
Niklas Kochdumper, Stanley Bak
Despite large advances in recent years, real-time capable motion planning for autonomous road vehicles remains a huge challenge. In this work, we present a decision module that is…
Fully Automated Verification of Linear Time-Invariant Systems against Signal Temporal Logic Specifications via Reachability Analysis
Niklas Kochdumper, Stanley Bak
While reachability analysis is one of the most promising approaches for formal verification of dynamic systems, a major disadvantage preventing a more widespread application is the…
Provably Safe Reinforcement Learning via Action Projection using Reachability Analysis and Polynomial Zonotopes
Niklas Kochdumper, Hanna Krasowski, Xiao Wang +2
While reinforcement learning produces very promising results for many applications, its main disadvantage is the lack of safety guarantees, which prevents its use in safety-critica…
Fully-Automated Verification of Linear Systems Using Inner- and Outer-Approximations of Reachable Sets
Mark Wetzlinger, Niklas Kochdumper, Stanley Bak +1
Reachability analysis is a formal method to guarantee safety of dynamical systems under the influence of uncertainties. A substantial bottleneck of all reachability algorithms is t…
Open- and Closed-Loop Neural Network Verification using Polynomial Zonotopes
Niklas Kochdumper, Christian Schilling, Matthias Althoff +1
We present a novel approach to efficiently compute tight non-convex enclosures of the image through neural networks with ReLU, sigmoid, or hyperbolic tangent activation functions.…
Adaptive Parameter Tuning for Reachability Analysis of Linear Systems
Mark Wetzlinger, Niklas Kochdumper, Matthias Althoff
Despite the possibility to quickly compute reachable sets of large-scale linear systems, current methods are not yet widely applied by practitioners. The main reason for this is pr…
Formal synthesis of closed-form sampled-data controllers for nonlinear continuous-time systems under STL specifications
Cees F. Verdier, Niklas Kochdumper, Matthias Althoff +1
We propose a counterexample-guided inductive synthesis framework for the formal synthesis of closed-form sampled-data controllers for nonlinear systems to meet STL specifications o…
Constrained Polynomial Zonotopes
Niklas Kochdumper, Matthias Althoff
We introduce constrained polynomial zonotopes, a novel non-convex set representation that is closed under linear map, Minkowski sum, Cartesian product, convex hull, intersection, u…
Representation of Polytopes as Polynomial Zonotopes
Niklas Kochdumper, Matthias Althoff
We prove that each bounded polytope can be represented as a polynomial zonotope, which we refer to as the Z-representation of polytopes. Previous representations are the vertex rep…
Utilizing Dependencies to Obtain Subsets of Reachable Sets
Niklas Kochdumper, Bastian Schürmann, Matthias Althoff
Reachability analysis, in general, is a fundamental method that supports formally-correct synthesis, robust model predictive control, set-based observers, fault detection, invarian…
Sparse Polynomial Zonotopes: A Novel Set Representation for Reachability Analysis
Niklas Kochdumper, Matthias Althoff
We introduce sparse polynomial zonotopes, a new set representation for formal verification of hybrid systems. Sparse polynomial zonotopes can represent non-convex sets and are gene…