15 papers
Autonomous Driving with Priority-Ordered STL Specifications Under Multimodal Uncertainty
Taha Bouzid, Shuhao Qi, Mircea Lazar +1
Autonomous vehicles must plan trajectories that satisfy multiple requirements, such as safety, traffic-rule compliance, and passenger comfort. However, in safety-critical scenarios…
Situation-Aware Interactive MPC Switching for Autonomous Driving
Shuhao Qi, Qiling Aori, Luyao Zhang +2
Autonomous driving in interactive traffic scenarios remains challenging because of the mutual influence among vehicles and the inherent uncertainty of surrounding agents. Several m…
Unraveling tensor structures in correct-by-design controller synthesis
Ruohan Wang, Zhiyong Sun, Sofie Haesaert
Formal safety guarantees on the synthesis of controllers for stochastic systems can be obtained using correct-by-design approaches. These approaches often use abstractions as finit…
Correct-by-Design Control Synthesis of Stochastic Multi-agent Systems: a Robust Tensor-based Solution
Ruohan Wang, Siyuan Liu, Zhiyong Sun +1
Discrete-time stochastic systems with continuous spaces are hard to verify and control, even with MDP abstractions due to the curse of dimensionality. We propose an abstraction-bas…
Compressing Correct-by-Design Synthesis for Stochastic Homogeneous Multi-Agent Systems with Counting LTL
Xinyuan Qiu, Ruohan Wang, Siyuan Liu +1
Correct-by-design synthesis provides a principled framework for establishing formal safety guarantees for stochastic multi-agent systems (MAS). However, conventional approaches bas…
Risk-Aware Autonomous Driving with Linear Temporal Logic Specifications
Shuhao Qi, Zengjie Zhang, Zhiyong Sun +1
Human drivers naturally balance the risks of different concerns while driving, including traffic rule violations, minor accidents, and fatalities. However, achieving the same behav…