4 papers
Barrier Function Conformal Safety Clearance Certification with CVaR for Driving Trajectory Selection
Pei Yu Chang, Qadeer Ahmed
Autonomous driving motion planners generate and select candidate trajectories while accounting for interactions with surrounding agents. However, these evaluations do not certify t…
Risk Aware Safe Control with Multi-Modal Sensing for Dynamic Obstacle Avoidance
Pei Yu Chang, Qizhe Xu, Vishnu Renganathan +1
Safe control in dynamic traffic environments remains a major challenge for autonomous vehicles (AVs), as ego vehicle and obstacle states are inherently affected by sensing noise an…
Risk-Budgeted Control Framework for Balanced Performance and Safety in Autonomous Vehicles
Pei Yu Chang, Vishnu Renganathan, Qadeer Ahmed
This paper presents a hybrid control framework with a risk-budgeted monitor for safety-certified autonomous driving. A sliding-window monitor tracks insufficient barrier residuals…
The Impact of Network Design Interventions on the Security of Interdependent Systems
Pradeep Sharma Oruganti, Parinaz Naghizadeh, Qadeer Ahmed
We study the problem of defending a Cyber-Physical System (CPS) consisting of interdependent components with heterogeneous sensitivity to investments. In addition to the optimal al…