Just-in-time Self-Verification of Autonomous Systems

Informazioni relative al progetto

justITSELF

ID dell’accordo di sovvenzione: 817629

DOI

10.3030/817629

Progetto chiuso

Data della firma CE 14 Gennaio 2019

Data di avvio 1 Luglio 2019

Data di completamento 30 Giugno 2024

Finanziato da

• EXCELLENT SCIENCE - European Research Council (ERC)

Costo totale

€ 1 999 075,00

Contributo UE

€ 1 999 075,00

Coordinato da

TECHNISCHE UNIVERSITAET MUENCHEN
Germany

CORDIS fornisce collegamenti ai risultati finali pubblici e alle pubblicazioni dei progetti ORIZZONTE.

I link ai risultati e alle pubblicazioni dei progetti del 7° PQ, così come i link ad alcuni tipi di risultati specifici come dataset e software, sono recuperati dinamicamente da .OpenAIRE .

Pubblicazioni

Conference proceedings (28)

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

Autori: Christian Pek, Vitaliy Rusinov, Stefanie Manzinger, Murat Can Uste, Matthias Althoff
Pubblicato in: 2020 IEEE Intelligent Vehicles Symposium (IV), 2020, Pagina/e 1013-1020, ISBN 978-1-7281-6673-5
Editore: IEEE
DOI: 10.1109/iv47402.2020.9304544

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

Autori: 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
Pubblicato in: EPiC Series in Computing volume 74, 2020, Pagina/e 49-21
Editore: EasyChair
DOI: 10.29007/zkf6

Guaranteed State Estimation in CORA 2021

Autori: M. Althoff
Pubblicato in: Proc. of the 8th International Workshop on Applied Verification of Continuous and Hybrid Systems, 2021
Editore: EasyChair
DOI: 10.29007/7m2k

Scalable robust output feedback MPC of linear sampled-data systems

Autori: F. Gruber and M. Althoff
Pubblicato in: 2021
Editore: IEEE
DOI: 10.1109/cdc45484.2021.9683384

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

Autori: Matthias Althoff, Marcelo Forets, Christian Schilling, Mark Wetzlinger
Pubblicato in: 2022
Editore: EasyChair
DOI: 10.29007/mmzc

Adaptive Parameter Tuning for Reachability Analysis of Nonlinear Systems

Autori: M. Wetzlinger, A. Kulmburg and M. Althoff
Pubblicato in: Proc.of the 24th International Conference on Hybrid Systems: Computation and Control, 2021
Editore: ACM
DOI: 10.1145/3447928.3456643

Automatic Synthesis of Human Motion from Temporal Logic Specifications

Autori: Matthias Althoff, Matthias Mayer, Robert Muller
Pubblicato in: 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2020, Pagina/e 4040-4046, ISBN 978-1-7281-6212-6
Editore: IEEE
DOI: 10.1109/iros45743.2020.9341666

Distributed Secure State Estimation Using Diffusion Kalman Filters and Reachability Analysis

Autori: Amr Alanwar, Hazem Said, Matthias Althoff
Pubblicato in: 2019 IEEE 58th Conference on Decision and Control (CDC), 2019, Pagina/e 4133-4139, ISBN 978-1-7281-1398-2
Editore: IEEE
DOI: 10.1109/cdc40024.2019.9029929

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

Autori: 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
Pubblicato in: 2023
Editore: EasyChair
DOI: 10.29007/93f2

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

Autori: M. Althoff and E. Abraham and M. Forets and G. Frehse and D. Freire and C. Schilling and S. Schupp and M. Wetzlinger
Pubblicato in: 2021
Editore: EasyChair
DOI: 10.29007/lhbw

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

Autori: Matthias Althoff, Marcelo Forets, Yangge Li, Sayan Mitra, Christian Schilling, Mark Wetzlinger, Daniel Zhuang
Pubblicato in: 2023
Editore: EasyChair
DOI: 10.29007/nl86

Provably Correct Safety Protocol for Cooperative Platooning

Autori: Sebastian Mair, Matthias Althoff
Pubblicato in: 2024 IEEE Intelligent Vehicles Symposium (IV), 2024
Editore: IEEE
DOI: 10.1109/iv55156.2024.10588824

Implementation of Ellipsoidal Operations in CORA 2022

Autori: Victor Gaßmann, Matthias Althoff
Pubblicato in: 2022
Editore: EasyChair
DOI: 10.29007/p328

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

Autori: 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
Pubblicato in: EPiC Series in Computing volume 74, 2020, Pagina/e 16--18
Editore: EasyChair
DOI: 10.29007/7dt2

Scalable Robust Model Predictive Control for Linear Sampled-Data Systems

Autori: Felix Gruber, Matthias Althoff
Pubblicato in: 2019 IEEE 58th Conference on Decision and Control (CDC), 2019, Pagina/e 438-444, ISBN 978-1-7281-1398-2
Editore: IEEE
DOI: 10.1109/cdc40024.2019.9029873

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

Autori: Niklas Kochdumper, Christian Schilling, Matthias Althoff, Stanley Bak
Pubblicato in: 2023
Editore: Springer
DOI: 10.1007/978-3-031-33170-1_2

AROC: A Toolbox for Automated Reachset Optimal Controller Synthesis

Autori: N. Kochdumper, F. Gruber,V. Gaßmann, M. Klischat, B. Schürmann and M. Althoff
Pubblicato in: 2021
Editore: ACM

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

Autori: 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
Pubblicato in: Proc. of the 8th International Workshop on Applied Verification of Continuous and Hybrid Systems, 2021
Editore: EasyChair
DOI: 10.29007/2jw8

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

Autori: Adrian Kulmburg, Ivan Brkan, Matthias Althoff
Pubblicato in: 2024 European Control Conference (ECC), 2024
Editore: IEEE
DOI: 10.23919/ecc64448.2024.10590884

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

Autori: A. Kulmburg and M. Althoff
Pubblicato in: 2021
Editore: IEEE

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

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

Scalable Zonotope-Ellipsoid Conversions using the Euclidean Zonotope Norm

Autori: Victor Gasmann, Matthias Althoff
Pubblicato in: 2020 American Control Conference (ACC), 2020, Pagina/e 4715-4721, ISBN 978-1-5386-8266-1
Editore: IEEE
DOI: 10.23919/acc45564.2020.9147938

Checking and Establishing Reachset Conformance in CORA 2023

Autori: Matthias Althoff
Pubblicato in: 2023
Editore: EasyChair
DOI: 10.29007/5v1g

Reachability Analysis of ARMAX Models

Autori: Laura Lützow, Matthias Althoff
Pubblicato in: 2023 62nd IEEE Conference on Decision and Control (CDC), 2024
Editore: IEEE
DOI: 10.1109/cdc49753.2023.10383972

Verification of Collision Avoidance for CommonRoad Traffic Scenarios

Autori: N. Kochdumper and P. Gassert and M. Althoff
Pubblicato in: 2021
Editore: EasyChair
DOI: 10.29007/1973

Event-Triggered Diffusion Kalman Filters

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

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

Autori: Mark Wetzlinger, Niklas Kochdumper, Stanley Bak, Matthias Althoff
Pubblicato in: 2023
Editore: ACM
DOI: 10.1145/3575870.3587121

Benchmarks for the Formal Verification of Power Systems

Autori: Matthias Althoff
Pubblicato in: 2022
Editore: EasyChair
DOI: 10.29007/tg4s

Peer reviewed articles (24)

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

Autori: Mark Wetzlinger, Niklas Kochdumper, Stanley Bak, Matthias Althoff
Pubblicato in: IEEE Transactions on Automatic Control, 2023, ISSN 0018-9286
Editore: 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

Autori: Niklas Kochdumper, Hanna Krasowski, Xiao Wang, Stanley Bak, Matthias Althoff
Pubblicato in: IEEE Open Journal of Control Systems, 2023, ISSN 2694-085X
Editore: IEEE
DOI: 10.1109/ojcsys.2023.3256305

Distributed set-based observers using diffusion strategies

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

Provably-Correct and Comfortable Adaptive Cruise Control

Autori: Matthias Althoff, Sebastian Maierhofer, Christian Pek
Pubblicato in: IEEE Transactions on Intelligent Vehicles, Numero 6/1, 2021, Pagina/e 159-174, ISSN 2379-8904
Editore: IEEE
DOI: 10.1109/tiv.2020.2991953

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

Autori: Di Liu, Sebastian Mair, Kang Yang, Simone Baldi, Paolo Frasca, Matthias Althoff
Pubblicato in: IEEE Transactions on Intelligent Vehicles, Numero 9, 2024, Pagina/e 2262-2275, ISSN 2379-8904
Editore: IEEE
DOI: 10.1109/tiv.2023.3317977

Scalable Reachset-Conformant Identification of Linear Systems

Autori: Laura Lützow, Matthias Althoff
Pubblicato in: IEEE Control Systems Letters, Numero 8, 2024, Pagina/e 520-525, ISSN 2475-1456
Editore: IEEE
DOI: 10.1109/lcsys.2024.3397058

Comparison of guaranteed state estimators for linear time-invariant systems

Autori: Matthias Althoff, Jagat Jyoti Rath
Pubblicato in: Automatica, 2021, ISSN 0005-1098
Editore: Pergamon Press Ltd.

Adaptive reachability algorithms for nonlinear systems using abstraction error analysis

Autori: Mark Wetzlinger, Adrian Kulmburg, Alexis Le Penven, Matthias Althoff
Pubblicato in: Nonlinear Analysis: Hybrid Systems, 2022, ISSN 1751-570X
Editore: Elsevier BV
DOI: 10.1016/j.nahs.2022.101252

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

Autori: Aaron Pereira, Mareike Baumann, Jonas Gerstner, Matthias Althoff
Pubblicato in: IEEE Transactions on Automation Science and Engineering, 2023, ISSN 1545-5955
Editore: 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

Autori: Victor Gaßmann, Matthias Althoff
Pubblicato in: IEEE Open Journal of Control Systems, 2023, ISSN 2694-085X
Editore: IEEE
DOI: 10.1109/ojcsys.2023.3301335

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

Autori: Cees Ferdinand Verdier; Niklas Kochdumper; Matthias Althoff; Manuel Mazo
Pubblicato in: urn:issn:0005-1098, Numero 1, 2022, ISSN 0005-1098
Editore: Pergamon Press Ltd.
DOI: 10.1016/j.automatica.2022.110184

Optimizing Sets of Solutions for Controlling Constrained Nonlinear Systems

Autori: B. Schürmann and M. Althoff
Pubblicato in: IEEE Transactions on Automatic Control, Numero 66, 2021, Pagina/e 981–994, ISSN 0018-9286
Editore: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tac.2020.2989762

Computing Safe Sets of Linear Sampled-Data Systems

Autori: Felix Gruber, Matthias Althoff
Pubblicato in: IEEE Control Systems Letters, Numero 5/2, 2021, Pagina/e 385-390, ISSN 2475-1456
Editore: IEEE
DOI: 10.1109/lcsys.2020.3002476

Privacy-preserving set-based estimation using partially homomorphic encryption

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

Verified Polynomial Controller Synthesis for Disturbed Nonlinear Systems

Autori: Victor Gaßmann and Matthias Althoff
Pubblicato in: IFAC-PapersOnLine, Numero 5, 2021, Pagina/e 85–90, ISSN 2405-8963
Editore: Elsevier
DOI: 10.1016/j.ifacol.2021.08.479

Constrained polynomial zonotopes

Autori: N. Kochdumper, M. Althoff
Pubblicato in: Acta Informatica, 2023, ISSN 1432-0525
Editore: Springer
DOI: 10.1007/s00236-023-00437-5

Scalable Computation of Robust Control Invariant Sets of Nonlinear Systems

Autori: Lukas Schäfer, Felix Gruber, Matthias Althoff
Pubblicato in: IEEE Transactions on Automatic Control, Numero 69, 2024, Pagina/e 755-770, ISSN 0018-9286
Editore: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tac.2023.3275305

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

Autori: Mark Wetzlinger, Adrian Kulmburg, Matthias Althoff
Pubblicato in: IEEE Control Systems Letters, Numero 8, 2024, Pagina/e 2033-2038, ISSN 2475-1456
Editore: 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

Autori: Noushin Mehdipour, Matthias Althoff, Radboud Duintjer Tebbens, Calin Belta
Pubblicato in: Automatica, 2023, ISSN 0005-1098
Editore: Pergamon Press Ltd.
DOI: 10.1016/j.automatica.2022.110692

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

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

Scalable Robust Safety Filter With Unknown Disturbance Set

Autori: Felix Guber, Matthias Althoff
Pubblicato in: IEEE Transactions on Automatic Control, 2023, ISSN 0018-9286
Editore: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tac.2023.3292329

Formal Safety Net Control Using Backward Reachability Analysis

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

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

Autori: Markus Koschi, Matthias Althoff
Pubblicato in: IEEE Transactions on Intelligent Vehicles, 2021, Pagina/e 1-1, ISSN 2379-8904
Editore: IEEE
DOI: 10.1109/tiv.2020.3017385

Set Propagation Techniques for Reachability Analysis

Autori: Matthias Althoff, Goran Frehse, Antoine Girard
Pubblicato in: Annual Review of Control, Robotics, and Autonomous Systems, Numero 4/1, 2021, Pagina/e 369-395, ISSN 2573-5144
Editore: Annual Reviews
DOI: 10.1146/annurev-control-071420-081941