Just-in-time Self-Verification of Autonomous Systems

Publications

Conference proceedings (16)

CommonRoad Drivability Checker: Simplifying the Development and Validation of Motion Planning Algorithms

Author(s): Christian Pek, Vitaliy Rusinov, Stefanie Manzinger, Murat Can Uste, Matthias Althoff
Published in: 2020 IEEE Intelligent Vehicles Symposium (IV), 2020, Page(s) 1013-1020, ISBN 978-1-7281-6673-5
Publisher: IEEE
DOI: 10.1109/iv47402.2020.9304544

ARCH-COMP20 Category Report: Continuous and Hybrid Systems with Nonlinear Dynamics

Author(s): Luca Geretti, Julien Alexandre Dit Sandretto, Matthias Althoff, Luis Benet, Alexandre Chapoutot, Xin Chen, Pieter Collins, Marcelo Forets, Daniel Freire, Fabian Immler, Niklas Kochdumper, David P. Sanders, Christian Schilling
Published in: EPiC Series in Computing volume 74, 2020, Page(s) 49-21
Publisher: EasyChair
DOI: 10.29007/zkf6

Guaranteed State Estimation in CORA 2021

Author(s): M. Althoff
Published in: Proc. of the 8th International Workshop on Applied Verification of Continuous and Hybrid Systems, 2021
Publisher: EasyChair
DOI: 10.29007/7m2k

Scalable robust output feedback MPC of linear sampled-data systems

Author(s): F. Gruber and M. Althoff
Published in: 2021
Publisher: IEEE
DOI: 10.1109/cdc45484.2021.9683384

Adaptive Parameter Tuning for Reachability Analysis of Nonlinear Systems

Author(s): M. Wetzlinger, A. Kulmburg and M. Althoff
Published in: Proc.of the 24th International Conference on Hybrid Systems: Computation and Control, 2021
Publisher: ACM
DOI: 10.1145/3447928.3456643

Automatic Synthesis of Human Motion from Temporal Logic Specifications

Author(s): Matthias Althoff, Matthias Mayer, Robert Muller
Published in: 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2020, Page(s) 4040-4046, ISBN 978-1-7281-6212-6
Publisher: IEEE
DOI: 10.1109/iros45743.2020.9341666

Distributed Secure State Estimation Using Diffusion Kalman Filters and Reachability Analysis

Author(s): Amr Alanwar, Hazem Said, Matthias Althoff
Published in: 2019 IEEE 58th Conference on Decision and Control (CDC), 2019, Page(s) 4133-4139, ISBN 978-1-7281-1398-2
Publisher: IEEE
DOI: 10.1109/cdc40024.2019.9029929

ARCH-COMP21 Category Report: Continuous and Hybrid Systems with Linear Continuous Dynamics

Author(s): M. Althoff and E. Abraham and M. Forets and G. Frehse and D. Freire and C. Schilling and S. Schupp and M. Wetzlinger
Published in: 2021
Publisher: EasyChair
DOI: 10.29007/lhbw

ARCH-COMP20 Category Report: Continuous and Hybrid Systems with Linear Continuous Dynamics

Author(s): Matthias Althoff, Stanley Bak, Zongnan Bao, Marcelo Forets, Goran Frehse, Daniel Freire, Niklas Kochdumper, Yangge Li, Sayan Mitra, Rajarshi Ray, Christian Schilling, Stefan Schupp, Mark Wetzlinger
Published in: EPiC Series in Computing volume 74, 2020, Page(s) 16--18
Publisher: EasyChair
DOI: 10.29007/7dt2

Scalable Robust Model Predictive Control for Linear Sampled-Data Systems

Author(s): Felix Gruber, Matthias Althoff
Published in: 2019 IEEE 58th Conference on Decision and Control (CDC), 2019, Page(s) 438-444, ISBN 978-1-7281-1398-2
Publisher: IEEE
DOI: 10.1109/cdc40024.2019.9029873

AROC: A Toolbox for Automated Reachset Optimal Controller Synthesis

Author(s): N. Kochdumper, F. Gruber,V. Gaßmann, M. Klischat, B. Schürmann and M. Althoff
Published in: 2021
Publisher: ACM

ARCH-COMP21 Category Report: Continuous and Hybrid Systems with Nonlinear Dynamics

Author(s): L. Geretti, J.~A. dit Sandretto, M. Althoff, L. Benet, A. Chapoutot, P. Collins, P.~S. Duggirala, M. Forets, E. Kim, U. Linares, D.~P. Sanders, C. Schilling and M. Wetzlinger
Published in: Proc. of the 8th International Workshop on Applied Verification of Continuous and Hybrid Systems, 2021
Publisher: EasyChair
DOI: 10.29007/2jw8

On the co-NP-Completeness of the Zonotope Containment Problem

Author(s): A. Kulmburg and M. Althoff
Published in: 2021
Publisher: IEEE

Scalable Zonotope-Ellipsoid Conversions using the Euclidean Zonotope Norm

Author(s): Victor Gasmann, Matthias Althoff
Published in: 2020 American Control Conference (ACC), 2020, Page(s) 4715-4721, ISBN 978-1-5386-8266-1
Publisher: IEEE
DOI: 10.23919/acc45564.2020.9147938

Verification of Collision Avoidance for CommonRoad Traffic Scenarios

Author(s): N. Kochdumper and P. Gassert and M. Althoff
Published in: 2021
Publisher: EasyChair
DOI: 10.29007/1973

Event-Triggered Diffusion Kalman Filters

Author(s): Amr Alanwar, Hazem Said, Ankur Mehta, Matthias Althoff
Published in: 2020 ACM/IEEE 11th International Conference on Cyber-Physical Systems (ICCPS), 2020, Page(s) 206-215, ISBN 978-1-7281-5501-2
Publisher: IEEE
DOI: 10.1109/iccps48487.2020.00032

Peer reviewed articles (7)

Provably-Correct and Comfortable Adaptive Cruise Control

Author(s): Matthias Althoff, Sebastian Maierhofer, Christian Pek
Published in: IEEE Transactions on Intelligent Vehicles, 6/1, 2021, Page(s) 159-174, ISSN 2379-8904
Publisher: IEEE
DOI: 10.1109/tiv.2020.2991953

Formal synthesis of closed-form sampled-data controllers for nonlinear continuous-time systems under STL specifications

Author(s): Cees Ferdinand Verdier; Niklas Kochdumper; Matthias Althoff; Manuel Mazo
Published in: urn:issn:0005-1098, 1, 2022, ISSN 0005-1098
Publisher: Pergamon Press Ltd.
DOI: 10.1016/j.automatica.2022.110184

Optimizing Sets of Solutions for Controlling Constrained Nonlinear Systems

Author(s): B. Schürmann and M. Althoff
Published in: IEEE Transactions on Automatic Control, 66, 2021, Page(s) 981–994, ISSN 0018-9286
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tac.2020.2989762

Computing Safe Sets of Linear Sampled-Data Systems

Author(s): Felix Gruber, Matthias Althoff
Published in: IEEE Control Systems Letters, 5/2, 2021, Page(s) 385-390, ISSN 2475-1456
Publisher: IEEE
DOI: 10.1109/lcsys.2020.3002476

Verified Polynomial Controller Synthesis for Disturbed Nonlinear Systems

Author(s): Victor Gaßmann and Matthias Althoff
Published in: IFAC-PapersOnLine, 5, 2021, Page(s) 85–90, ISSN 2405-8963
Publisher: Elsevier
DOI: 10.1016/j.ifacol.2021.08.479

Set-based Prediction of Traffic Participants Considering Occlusions and Traffic Rules

Author(s): Markus Koschi, Matthias Althoff
Published in: IEEE Transactions on Intelligent Vehicles, 2021, Page(s) 1-1, ISSN 2379-8904
Publisher: IEEE
DOI: 10.1109/tiv.2020.3017385

Set Propagation Techniques for Reachability Analysis

Author(s): Matthias Althoff, Goran Frehse, Antoine Girard
Published in: Annual Review of Control, Robotics, and Autonomous Systems, 4/1, 2021, Page(s) 369-395, ISSN 2573-5144
Publisher: Annual Reviews
DOI: 10.1146/annurev-control-071420-081941