63 citations · 122 across the 63 of their papers we have counts for
10 papers · 1 filter
Roundabout Constrained Convex Generators: A Unified Framework for Multiply-Connected Reachable Sets
Peng Xie, Sabin Diaconescu, Florin Stoican +1
This paper introduces Roundabout Constrained Convex Generators (RCGs), a set representation framework for modeling multiply connected regions in control and verification applicatio…
Online Data-Driven Reachability Analysis using Zonotopic Recursive Least Squares
Alireza Naderi, Amr Hegazy, Amr Alanwar
Reachability analysis is a key formal verification technique for ensuring the safety of modern cyber physical systems subject to uncertainties in measurements, system models (param…
Hybrid Polynomial Zonotopes: A Set Representation for Reachability Analysis in Hybrid Nonaffine Systems
Peng Xie, Zhen Zhang, Amr Alanwar
Reachability analysis for hybrid nonaffine systems remains computationally challenging, as existing set representations--including constrained, polynomial, and hybrid zonotopes--ei…
Informed Hybrid Zonotope-based Motion Planning Algorithm
Peng Xie, Johannes Betz, Amr Alanwar
Optimal path planning in nonconvex free spaces poses substantial computational challenges. A common approach formulates such problems as mixed-integer linear programs (MILPs); howe…
Guiding Giants: Lightweight Controllers for Weighted Activation Steering in LLMs
Amr Hegazy, Mostafa Elhoushi, Amr Alanwar
Controlling undesirable Large Language Model (LLM) behaviors, such as the generation of unsafe content or failing to adhere to safety guidelines, often relies on costly fine-tuning…
Data-Driven Safety Verification using Barrier Certificates and Matrix Zonotopes
Mohammed Adib Oumer, Amr Alanwar, Majid Zamani
Ensuring safety in cyber-physical systems (CPSs) is a critical challenge, especially when system models are difficult to obtain or cannot be fully trusted due to uncertainty, model…
Predictive Traffic Rule Compliance using Reinforcement Learning
Yanliang Huang, Sebastian Mair, Zhuoqi Zeng +1
Autonomous vehicle path planning has reached a stage where safety and regulatory compliance are crucial. This paper presents an approach that integrates a motion planner with a dee…
Data-Driven Reachability Analysis for Piecewise Affine Systems
Peng Xie, Johannes Betz, Davide M. Raimondo +1
Hybrid systems play a crucial role in modeling real-world applications where discrete and continuous dynamics interact, including autonomous vehicles, power systems, and traffic ne…
Safe LLM-Controlled Robots with Formal Guarantees via Reachability Analysis
Ahmad Hafez, Alireza Naderi Akhormeh, Amr Hegazy +1
The deployment of Large Language Models (LLMs) in robotic systems presents unique safety challenges, particularly in unpredictable environments. Although LLMs, leveraging zero-shot…
From Words to Collisions: LLM-Guided Evaluation and Adversarial Generation of Safety-Critical Driving Scenarios
Yuan Gao, Mattia Piccinini, Korbinian Moller +2
Ensuring the safety of autonomous vehicles requires virtual scenario-based testing, which depends on the robust evaluation and generation of safety-critical scenarios. So far, rese…