Just-in-time Self-Verification of Autonomous Systems

Project Information

justITSELF

Grant agreement ID: 817629

DOI

10.3030/817629

Project closed

EC signature date 14 January 2019

Start date 1 July 2019

End date 30 June 2024

Funded under

• EXCELLENT SCIENCE - European Research Council (ERC)

Total cost

€ 1 999 075,00

EU contribution

€ 1 999 075,00

Coordinated by

TECHNISCHE UNIVERSITAET MUENCHEN
Germany

CORDIS provides links to public deliverables and publications of HORIZON projects.

Links to deliverables and publications from FP7 projects, as well as links to some specific result types such as dataset and software, are dynamically retrieved from OpenAIRE .

Publications

Conference proceedings (28)

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

ARCH-COMP22 Category Report: Continuous and Hybrid Systems with Linear Continuous Dynamics

Author(s): Matthias Althoff, Marcelo Forets, Christian Schilling, Mark Wetzlinger
Published in: 2022
Publisher: EasyChair
DOI: 10.29007/mmzc

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-COMP23 Category Report: Continuous and Hybrid Systems with Nonlinear Dynamics

Author(s): Luca Geretti, Julien Alexandre Dit Sandretto, Matthias Althoff, Luis Benet, Pieter Collins, Marcelo Forets, Elena Ivanova, Yangge Li, Sayan Mitra, Stefan Mitsch, Christian Schilling, Mark Wetzlinger, Daniel Zhuang
Published in: 2023
Publisher: EasyChair
DOI: 10.29007/93f2

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-COMP23 Category Report: Continuous and Hybrid Systems with Linear Continuous Dynamics

Author(s): Matthias Althoff, Marcelo Forets, Yangge Li, Sayan Mitra, Christian Schilling, Mark Wetzlinger, Daniel Zhuang
Published in: 2023
Publisher: EasyChair
DOI: 10.29007/nl86

Provably Correct Safety Protocol for Cooperative Platooning

Author(s): Sebastian Mair, Matthias Althoff
Published in: 2024 IEEE Intelligent Vehicles Symposium (IV), 2024
Publisher: IEEE
DOI: 10.1109/iv55156.2024.10588824

Implementation of Ellipsoidal Operations in CORA 2022

Author(s): Victor Gaßmann, Matthias Althoff
Published in: 2022
Publisher: EasyChair
DOI: 10.29007/p328

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

Open- and Closed-Loop Neural Network Verification Using Polynomial Zonotopes

Author(s): Niklas Kochdumper, Christian Schilling, Matthias Althoff, Stanley Bak
Published in: 2023
Publisher: Springer
DOI: 10.1007/978-3-031-33170-1_2

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

Search-based and Stochastic Solutions to the Zonotope and Ellipsotope Containment Problems

Author(s): Adrian Kulmburg, Ivan Brkan, Matthias Althoff
Published in: 2024 European Control Conference (ECC), 2024
Publisher: IEEE
DOI: 10.23919/ecc64448.2024.10590884

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

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

ARCH-COMP22 Category Report: Continuous and Hybrid Systems with Nonlinear Dynamics

Author(s): Luca Geretti, Julien Alexandre Dit Sandretto, Matthias Althoff, Luis Benet, Pieter Collins, Parasara Duggirala, Marcelo Forets, Edward Kim, Stefan Mitsch, Christian Schilling, Mark Wetzlinger
Published in: 2022
Publisher: EasyChair
DOI: 10.29007/fnzc

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

Checking and Establishing Reachset Conformance in CORA 2023

Author(s): Matthias Althoff
Published in: 2023
Publisher: EasyChair
DOI: 10.29007/5v1g

Reachability Analysis of ARMAX Models

Author(s): Laura Lützow, Matthias Althoff
Published in: 2023 62nd IEEE Conference on Decision and Control (CDC), 2024
Publisher: IEEE
DOI: 10.1109/cdc49753.2023.10383972

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

Fully-Automated Verification of Linear Systems Using Reachability Analysis with Support Functions

Author(s): Mark Wetzlinger, Niklas Kochdumper, Stanley Bak, Matthias Althoff
Published in: 2023
Publisher: ACM
DOI: 10.1145/3575870.3587121

Benchmarks for the Formal Verification of Power Systems

Author(s): Matthias Althoff
Published in: 2022
Publisher: EasyChair
DOI: 10.29007/tg4s

Peer reviewed articles (24)

Fully Automated Verification of Linear Systems Using Inner and Outer Approximations of Reachable Sets

Author(s): Mark Wetzlinger, Niklas Kochdumper, Stanley Bak, Matthias Althoff
Published in: IEEE Transactions on Automatic Control, 2023, ISSN 0018-9286
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tac.2023.3292008

Provably Safe Reinforcement Learning via Action Projection Using Reachability Analysis and Polynomial Zonotopes

Author(s): Niklas Kochdumper, Hanna Krasowski, Xiao Wang, Stanley Bak, Matthias Althoff
Published in: IEEE Open Journal of Control Systems, 2023, ISSN 2694-085X
Publisher: IEEE
DOI: 10.1109/ojcsys.2023.3256305

Distributed set-based observers using diffusion strategies

Author(s): Amr Alanwar, Jagat Jyoti Rath, Hazem Said, Karl Henrik Johansson, Matthias Althoff
Published in: Journal of the Franklin Institute, 2023, ISSN 0016-0032
Publisher: Pergamon Press Ltd.
DOI: 10.1016/j.jfranklin.2023.03.025

Provably-Correct and Comfortable Adaptive Cruise Control

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

Resilience in Platoons of Cooperative Heterogeneous Vehicles: Self-Organization Strategies and Provably-Correct Design

Author(s): Di Liu, Sebastian Mair, Kang Yang, Simone Baldi, Paolo Frasca, Matthias Althoff
Published in: IEEE Transactions on Intelligent Vehicles, Issue 9, 2024, Page(s) 2262-2275, ISSN 2379-8904
Publisher: IEEE
DOI: 10.1109/tiv.2023.3317977

Scalable Reachset-Conformant Identification of Linear Systems

Author(s): Laura Lützow, Matthias Althoff
Published in: IEEE Control Systems Letters, Issue 8, 2024, Page(s) 520-525, ISSN 2475-1456
Publisher: IEEE
DOI: 10.1109/lcsys.2024.3397058

Comparison of guaranteed state estimators for linear time-invariant systems

Author(s): Matthias Althoff, Jagat Jyoti Rath
Published in: Automatica, 2021, ISSN 0005-1098
Publisher: Pergamon Press Ltd.

Adaptive reachability algorithms for nonlinear systems using abstraction error analysis

Author(s): Mark Wetzlinger, Adrian Kulmburg, Alexis Le Penven, Matthias Althoff
Published in: Nonlinear Analysis: Hybrid Systems, 2022, ISSN 1751-570X
Publisher: Elsevier BV
DOI: 10.1016/j.nahs.2022.101252

Improving Efficiency of Human-Robot Coexistence While Guaranteeing Safety: Theory and User Study

Author(s): Aaron Pereira, Mareike Baumann, Jonas Gerstner, Matthias Althoff
Published in: IEEE Transactions on Automation Science and Engineering, 2023, ISSN 1545-5955
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tase.2022.3201970

Polynomial Controller Synthesis of Nonlinear Systems With Continuous State Feedback Using Trust Regions

Author(s): Victor Gaßmann, Matthias Althoff
Published in: IEEE Open Journal of Control Systems, 2023, ISSN 2694-085X
Publisher: IEEE
DOI: 10.1109/ojcsys.2023.3301335

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, Issue 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, Issue 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, Issue 5/2, 2021, Page(s) 385-390, ISSN 2475-1456
Publisher: IEEE
DOI: 10.1109/lcsys.2020.3002476

Privacy-preserving set-based estimation using partially homomorphic encryption

Author(s): Amr Alanwar, Victor Gaßmann, Xingkang He, Hazem Said, Henrik Sandberg, Karl H. Johansson, Matthias Althoff
Published in: European Journal of Control, 2023, ISSN 0947-3580
Publisher: Lavoisier
DOI: 10.1016/j.ejcon.2023.100786

Verified Polynomial Controller Synthesis for Disturbed Nonlinear Systems

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

Constrained polynomial zonotopes

Author(s): N. Kochdumper, M. Althoff
Published in: Acta Informatica, 2023, ISSN 1432-0525
Publisher: Springer
DOI: 10.1007/s00236-023-00437-5

Scalable Computation of Robust Control Invariant Sets of Nonlinear Systems

Author(s): Lukas Schäfer, Felix Gruber, Matthias Althoff
Published in: IEEE Transactions on Automatic Control, Issue 69, 2024, Page(s) 755-770, ISSN 0018-9286
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tac.2023.3275305

Inner Approximations of Reachable Sets for Nonlinear Systems Using the Minkowski Difference

Author(s): Mark Wetzlinger, Adrian Kulmburg, Matthias Althoff
Published in: IEEE Control Systems Letters, Issue 8, 2024, Page(s) 2033-2038, ISSN 2475-1456
Publisher: IEEE
DOI: 10.1109/lcsys.2024.3421194

Formal methods to comply with rules of the road in autonomous driving: State of the art and grand challenges

Author(s): Noushin Mehdipour, Matthias Althoff, Radboud Duintjer Tebbens, Calin Belta
Published in: Automatica, 2023, ISSN 0005-1098
Publisher: Pergamon Press Ltd.
DOI: 10.1016/j.automatica.2022.110692

Provably Safe Reinforcement Learning: Conceptual Analysis, Survey, and Benchmarking

Author(s): "Hanna Krasowski and Jakob Thumm and Marlon M{\""u}ller and Lukas Sch{\""a}fer and Xiao Wang and Matthias Althoff"
Published in: Transactions on Machine Learning Research, 2023, ISSN 2835-8856
Publisher: OpenReview

Scalable Robust Safety Filter With Unknown Disturbance Set

Author(s): Felix Guber, Matthias Althoff
Published in: IEEE Transactions on Automatic Control, 2023, ISSN 0018-9286
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tac.2023.3292329

Formal Safety Net Control Using Backward Reachability Analysis

Author(s): Bastian Schürmann, Moritz Klischat, Niklas Kochdumper, Matthias Althoff
Published in: IEEE Transactions on Automatic Control, 2022, ISSN 0018-9286
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tac.2021.3124188

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, Issue 4/1, 2021, Page(s) 369-395, ISSN 2573-5144
Publisher: Annual Reviews
DOI: 10.1146/annurev-control-071420-081941