Just-in-time Self-Verification of Autonomous Systems

Información del proyecto

justITSELF

Identificador del acuerdo de subvención: 817629

DOI

10.3030/817629

Proyecto cerrado

Fecha de la firma de la CE 14 Enero 2019

Fecha de inicio 1 Julio 2019

Fecha de finalización 30 Junio 2024

Financiado con arreglo a

• EXCELLENT SCIENCE - European Research Council (ERC)

Coste total

€ 1 999 075,00

Aportación de la UE

€ 1 999 075,00

Coordinado por

TECHNISCHE UNIVERSITAET MUENCHEN
Germany

CORDIS proporciona enlaces a los documentos públicos y las publicaciones de los proyectos de los programas marco HORIZONTE.

Los enlaces a los documentos y las publicaciones de los proyectos del Séptimo Programa Marco, así como los enlaces a algunos tipos de resultados específicos, como conjuntos de datos y «software», se obtienen dinámicamente de OpenAIRE .

Publicaciones

Conference proceedings (28)

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

Autores: Christian Pek, Vitaliy Rusinov, Stefanie Manzinger, Murat Can Uste, Matthias Althoff
Publicado en: 2020 IEEE Intelligent Vehicles Symposium (IV), 2020, Página(s) 1013-1020, ISBN 978-1-7281-6673-5
Editor: IEEE
DOI: 10.1109/iv47402.2020.9304544

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

Autores: 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
Publicado en: EPiC Series in Computing volume 74, 2020, Página(s) 49-21
Editor: EasyChair
DOI: 10.29007/zkf6

Guaranteed State Estimation in CORA 2021

Autores: M. Althoff
Publicado en: Proc. of the 8th International Workshop on Applied Verification of Continuous and Hybrid Systems, 2021
Editor: EasyChair
DOI: 10.29007/7m2k

Scalable robust output feedback MPC of linear sampled-data systems

Autores: F. Gruber and M. Althoff
Publicado en: 2021
Editor: IEEE
DOI: 10.1109/cdc45484.2021.9683384

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

Autores: Matthias Althoff, Marcelo Forets, Christian Schilling, Mark Wetzlinger
Publicado en: 2022
Editor: EasyChair
DOI: 10.29007/mmzc

Adaptive Parameter Tuning for Reachability Analysis of Nonlinear Systems

Autores: M. Wetzlinger, A. Kulmburg and M. Althoff
Publicado en: Proc.of the 24th International Conference on Hybrid Systems: Computation and Control, 2021
Editor: ACM
DOI: 10.1145/3447928.3456643

Automatic Synthesis of Human Motion from Temporal Logic Specifications

Autores: Matthias Althoff, Matthias Mayer, Robert Muller
Publicado en: 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2020, Página(s) 4040-4046, ISBN 978-1-7281-6212-6
Editor: IEEE
DOI: 10.1109/iros45743.2020.9341666

Distributed Secure State Estimation Using Diffusion Kalman Filters and Reachability Analysis

Autores: Amr Alanwar, Hazem Said, Matthias Althoff
Publicado en: 2019 IEEE 58th Conference on Decision and Control (CDC), 2019, Página(s) 4133-4139, ISBN 978-1-7281-1398-2
Editor: IEEE
DOI: 10.1109/cdc40024.2019.9029929

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

Autores: 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
Publicado en: 2023
Editor: EasyChair
DOI: 10.29007/93f2

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

Autores: M. Althoff and E. Abraham and M. Forets and G. Frehse and D. Freire and C. Schilling and S. Schupp and M. Wetzlinger
Publicado en: 2021
Editor: EasyChair
DOI: 10.29007/lhbw

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

Autores: Matthias Althoff, Marcelo Forets, Yangge Li, Sayan Mitra, Christian Schilling, Mark Wetzlinger, Daniel Zhuang
Publicado en: 2023
Editor: EasyChair
DOI: 10.29007/nl86

Provably Correct Safety Protocol for Cooperative Platooning

Autores: Sebastian Mair, Matthias Althoff
Publicado en: 2024 IEEE Intelligent Vehicles Symposium (IV), 2024
Editor: IEEE
DOI: 10.1109/iv55156.2024.10588824

Implementation of Ellipsoidal Operations in CORA 2022

Autores: Victor Gaßmann, Matthias Althoff
Publicado en: 2022
Editor: EasyChair
DOI: 10.29007/p328

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

Autores: 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
Publicado en: EPiC Series in Computing volume 74, 2020, Página(s) 16--18
Editor: EasyChair
DOI: 10.29007/7dt2

Scalable Robust Model Predictive Control for Linear Sampled-Data Systems

Autores: Felix Gruber, Matthias Althoff
Publicado en: 2019 IEEE 58th Conference on Decision and Control (CDC), 2019, Página(s) 438-444, ISBN 978-1-7281-1398-2
Editor: IEEE
DOI: 10.1109/cdc40024.2019.9029873

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

Autores: Niklas Kochdumper, Christian Schilling, Matthias Althoff, Stanley Bak
Publicado en: 2023
Editor: Springer
DOI: 10.1007/978-3-031-33170-1_2

AROC: A Toolbox for Automated Reachset Optimal Controller Synthesis

Autores: N. Kochdumper, F. Gruber,V. Gaßmann, M. Klischat, B. Schürmann and M. Althoff
Publicado en: 2021
Editor: ACM

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

Autores: 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
Publicado en: Proc. of the 8th International Workshop on Applied Verification of Continuous and Hybrid Systems, 2021
Editor: EasyChair
DOI: 10.29007/2jw8

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

Autores: Adrian Kulmburg, Ivan Brkan, Matthias Althoff
Publicado en: 2024 European Control Conference (ECC), 2024
Editor: IEEE
DOI: 10.23919/ecc64448.2024.10590884

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

Autores: A. Kulmburg and M. Althoff
Publicado en: 2021
Editor: IEEE

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

Autores: Luca Geretti, Julien Alexandre Dit Sandretto, Matthias Althoff, Luis Benet, Pieter Collins, Parasara Duggirala, Marcelo Forets, Edward Kim, Stefan Mitsch, Christian Schilling, Mark Wetzlinger
Publicado en: 2022
Editor: EasyChair
DOI: 10.29007/fnzc

Scalable Zonotope-Ellipsoid Conversions using the Euclidean Zonotope Norm

Autores: Victor Gasmann, Matthias Althoff
Publicado en: 2020 American Control Conference (ACC), 2020, Página(s) 4715-4721, ISBN 978-1-5386-8266-1
Editor: IEEE
DOI: 10.23919/acc45564.2020.9147938

Checking and Establishing Reachset Conformance in CORA 2023

Autores: Matthias Althoff
Publicado en: 2023
Editor: EasyChair
DOI: 10.29007/5v1g

Reachability Analysis of ARMAX Models

Autores: Laura Lützow, Matthias Althoff
Publicado en: 2023 62nd IEEE Conference on Decision and Control (CDC), 2024
Editor: IEEE
DOI: 10.1109/cdc49753.2023.10383972

Verification of Collision Avoidance for CommonRoad Traffic Scenarios

Autores: N. Kochdumper and P. Gassert and M. Althoff
Publicado en: 2021
Editor: EasyChair
DOI: 10.29007/1973

Event-Triggered Diffusion Kalman Filters

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

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

Autores: Mark Wetzlinger, Niklas Kochdumper, Stanley Bak, Matthias Althoff
Publicado en: 2023
Editor: ACM
DOI: 10.1145/3575870.3587121

Benchmarks for the Formal Verification of Power Systems

Autores: Matthias Althoff
Publicado en: 2022
Editor: EasyChair
DOI: 10.29007/tg4s

Peer reviewed articles (24)

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

Autores: Mark Wetzlinger, Niklas Kochdumper, Stanley Bak, Matthias Althoff
Publicado en: IEEE Transactions on Automatic Control, 2023, ISSN 0018-9286
Editor: 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

Autores: Niklas Kochdumper, Hanna Krasowski, Xiao Wang, Stanley Bak, Matthias Althoff
Publicado en: IEEE Open Journal of Control Systems, 2023, ISSN 2694-085X
Editor: IEEE
DOI: 10.1109/ojcsys.2023.3256305

Distributed set-based observers using diffusion strategies

Autores: Amr Alanwar, Jagat Jyoti Rath, Hazem Said, Karl Henrik Johansson, Matthias Althoff
Publicado en: Journal of the Franklin Institute, 2023, ISSN 0016-0032
Editor: Pergamon Press Ltd.
DOI: 10.1016/j.jfranklin.2023.03.025

Provably-Correct and Comfortable Adaptive Cruise Control

Autores: Matthias Althoff, Sebastian Maierhofer, Christian Pek
Publicado en: IEEE Transactions on Intelligent Vehicles, Edición 6/1, 2021, Página(s) 159-174, ISSN 2379-8904
Editor: IEEE
DOI: 10.1109/tiv.2020.2991953

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

Autores: Di Liu, Sebastian Mair, Kang Yang, Simone Baldi, Paolo Frasca, Matthias Althoff
Publicado en: IEEE Transactions on Intelligent Vehicles, Edición 9, 2024, Página(s) 2262-2275, ISSN 2379-8904
Editor: IEEE
DOI: 10.1109/tiv.2023.3317977

Scalable Reachset-Conformant Identification of Linear Systems

Autores: Laura Lützow, Matthias Althoff
Publicado en: IEEE Control Systems Letters, Edición 8, 2024, Página(s) 520-525, ISSN 2475-1456
Editor: IEEE
DOI: 10.1109/lcsys.2024.3397058

Comparison of guaranteed state estimators for linear time-invariant systems

Autores: Matthias Althoff, Jagat Jyoti Rath
Publicado en: Automatica, 2021, ISSN 0005-1098
Editor: Pergamon Press Ltd.

Adaptive reachability algorithms for nonlinear systems using abstraction error analysis

Autores: Mark Wetzlinger, Adrian Kulmburg, Alexis Le Penven, Matthias Althoff
Publicado en: Nonlinear Analysis: Hybrid Systems, 2022, ISSN 1751-570X
Editor: Elsevier BV
DOI: 10.1016/j.nahs.2022.101252

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

Autores: Aaron Pereira, Mareike Baumann, Jonas Gerstner, Matthias Althoff
Publicado en: IEEE Transactions on Automation Science and Engineering, 2023, ISSN 1545-5955
Editor: 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

Autores: Victor Gaßmann, Matthias Althoff
Publicado en: IEEE Open Journal of Control Systems, 2023, ISSN 2694-085X
Editor: IEEE
DOI: 10.1109/ojcsys.2023.3301335

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

Autores: Cees Ferdinand Verdier; Niklas Kochdumper; Matthias Althoff; Manuel Mazo
Publicado en: urn:issn:0005-1098, Edición 1, 2022, ISSN 0005-1098
Editor: Pergamon Press Ltd.
DOI: 10.1016/j.automatica.2022.110184

Optimizing Sets of Solutions for Controlling Constrained Nonlinear Systems

Autores: B. Schürmann and M. Althoff
Publicado en: IEEE Transactions on Automatic Control, Edición 66, 2021, Página(s) 981–994, ISSN 0018-9286
Editor: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tac.2020.2989762

Computing Safe Sets of Linear Sampled-Data Systems

Autores: Felix Gruber, Matthias Althoff
Publicado en: IEEE Control Systems Letters, Edición 5/2, 2021, Página(s) 385-390, ISSN 2475-1456
Editor: IEEE
DOI: 10.1109/lcsys.2020.3002476

Privacy-preserving set-based estimation using partially homomorphic encryption

Autores: Amr Alanwar, Victor Gaßmann, Xingkang He, Hazem Said, Henrik Sandberg, Karl H. Johansson, Matthias Althoff
Publicado en: European Journal of Control, 2023, ISSN 0947-3580
Editor: Lavoisier
DOI: 10.1016/j.ejcon.2023.100786

Verified Polynomial Controller Synthesis for Disturbed Nonlinear Systems

Autores: Victor Gaßmann and Matthias Althoff
Publicado en: IFAC-PapersOnLine, Edición 5, 2021, Página(s) 85–90, ISSN 2405-8963
Editor: Elsevier
DOI: 10.1016/j.ifacol.2021.08.479

Constrained polynomial zonotopes

Autores: N. Kochdumper, M. Althoff
Publicado en: Acta Informatica, 2023, ISSN 1432-0525
Editor: Springer
DOI: 10.1007/s00236-023-00437-5

Scalable Computation of Robust Control Invariant Sets of Nonlinear Systems

Autores: Lukas Schäfer, Felix Gruber, Matthias Althoff
Publicado en: IEEE Transactions on Automatic Control, Edición 69, 2024, Página(s) 755-770, ISSN 0018-9286
Editor: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tac.2023.3275305

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

Autores: Mark Wetzlinger, Adrian Kulmburg, Matthias Althoff
Publicado en: IEEE Control Systems Letters, Edición 8, 2024, Página(s) 2033-2038, ISSN 2475-1456
Editor: 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

Autores: Noushin Mehdipour, Matthias Althoff, Radboud Duintjer Tebbens, Calin Belta
Publicado en: Automatica, 2023, ISSN 0005-1098
Editor: Pergamon Press Ltd.
DOI: 10.1016/j.automatica.2022.110692

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

Autores: "Hanna Krasowski and Jakob Thumm and Marlon M{\""u}ller and Lukas Sch{\""a}fer and Xiao Wang and Matthias Althoff"
Publicado en: Transactions on Machine Learning Research, 2023, ISSN 2835-8856
Editor: OpenReview

Scalable Robust Safety Filter With Unknown Disturbance Set

Autores: Felix Guber, Matthias Althoff
Publicado en: IEEE Transactions on Automatic Control, 2023, ISSN 0018-9286
Editor: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tac.2023.3292329

Formal Safety Net Control Using Backward Reachability Analysis

Autores: Bastian Schürmann, Moritz Klischat, Niklas Kochdumper, Matthias Althoff
Publicado en: IEEE Transactions on Automatic Control, 2022, ISSN 0018-9286
Editor: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tac.2021.3124188

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

Autores: Markus Koschi, Matthias Althoff
Publicado en: IEEE Transactions on Intelligent Vehicles, 2021, Página(s) 1-1, ISSN 2379-8904
Editor: IEEE
DOI: 10.1109/tiv.2020.3017385

Set Propagation Techniques for Reachability Analysis

Autores: Matthias Althoff, Goran Frehse, Antoine Girard
Publicado en: Annual Review of Control, Robotics, and Autonomous Systems, Edición 4/1, 2021, Página(s) 369-395, ISSN 2573-5144
Editor: Annual Reviews
DOI: 10.1146/annurev-control-071420-081941