43 citations · 168 across the 35 of their papers we have counts for
6 papers · 1 filter
Risk-Averse Decision Making Under Uncertainty
Mohamadreza Ahmadi, Ugo Rosolia, Michel D. Ingham +2
A large class of decision making under uncertainty problems can be described via Markov decision processes (MDPs) or partially observable MDPs (POMDPs), with application to artific…
Synthesis of Static Test Environments for Observing Sequence-like Behaviors in Autonomous Systems
Apurva Badithela, Richard M. Murray
In this paper, we investigate formal test-case generation for high-level mission objectives, specifically reachability, of autonomous systems. We use Kripke structures to represent…
Leveraging Classification Metrics for Quantitative System-Level Analysis with Temporal Logic Specifications
Apurva Badithela, Tichakorn Wongpiromsarn, Richard M. Murray
In many autonomy applications, performance of perception algorithms is important for effective planning and control. In this paper, we introduce a framework for computing the proba…
Limits of Probabilistic Safety Guarantees when Considering Human Uncertainty
Richard Cheng, Richard M. Murray, Joel W. Burdick
When autonomous robots interact with humans, such as during autonomous driving, explicit safety guarantees are crucial in order to avoid potentially life-threatening accidents. Man…
Failure-Tolerant Contract-Based Design of an Automated Valet Parking System using a Directive-Response Architecture
Josefine Graebener, Tung Phan-Minh, Jiaqi Yan +2
Increased complexity in cyber-physical systems calls for modular system design methodologies that guarantee correct and reliable behavior, both in normal operations and in the pres…
Time-Optimal Navigation in Uncertain Environments with High-Level Specifications
Ugo Rosolia, Mohamadreza Ahmadi, Richard M. Murray +1
Mixed observable Markov decision processes (MOMDPs) are a modeling framework for autonomous systems described by both fully and partially observable states. In this work, we study…