Just-in-time Self-Verification of Autonomous Systems

Publikacje

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

Autorzy: Christian Pek, Vitaliy Rusinov, Stefanie Manzinger, Murat Can Uste, Matthias Althoff
Opublikowane w: 2020 IEEE Intelligent Vehicles Symposium (IV), 2020, Strona(/y) 1013-1020, ISBN 978-1-7281-6673-5
Wydawca: IEEE
DOI: 10.1109/iv47402.2020.9304544

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

Autorzy: 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
Opublikowane w: EPiC Series in Computing volume 74, 2020, Strona(/y) 49-21
Wydawca: EasyChair
DOI: 10.29007/zkf6

Guaranteed State Estimation in CORA 2021

Autorzy: M. Althoff
Opublikowane w: Proc. of the 8th International Workshop on Applied Verification of Continuous and Hybrid Systems, 2021
Wydawca: EasyChair
DOI: 10.29007/7m2k

Scalable robust output feedback MPC of linear sampled-data systems

Autorzy: F. Gruber and M. Althoff
Opublikowane w: 2021
Wydawca: IEEE
DOI: 10.1109/cdc45484.2021.9683384

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

Autorzy: Matthias Althoff, Marcelo Forets, Christian Schilling, Mark Wetzlinger
Opublikowane w: 2022
Wydawca: EasyChair
DOI: 10.29007/mmzc

Adaptive Parameter Tuning for Reachability Analysis of Nonlinear Systems

Autorzy: M. Wetzlinger, A. Kulmburg and M. Althoff
Opublikowane w: Proc.of the 24th International Conference on Hybrid Systems: Computation and Control, 2021
Wydawca: ACM
DOI: 10.1145/3447928.3456643

Automatic Synthesis of Human Motion from Temporal Logic Specifications

Autorzy: Matthias Althoff, Matthias Mayer, Robert Muller
Opublikowane w: 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2020, Strona(/y) 4040-4046, ISBN 978-1-7281-6212-6
Wydawca: IEEE
DOI: 10.1109/iros45743.2020.9341666

Distributed Secure State Estimation Using Diffusion Kalman Filters and Reachability Analysis

Autorzy: Amr Alanwar, Hazem Said, Matthias Althoff
Opublikowane w: 2019 IEEE 58th Conference on Decision and Control (CDC), 2019, Strona(/y) 4133-4139, ISBN 978-1-7281-1398-2
Wydawca: IEEE
DOI: 10.1109/cdc40024.2019.9029929

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

Autorzy: 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
Opublikowane w: 2023
Wydawca: EasyChair
DOI: 10.29007/93f2

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

Autorzy: M. Althoff and E. Abraham and M. Forets and G. Frehse and D. Freire and C. Schilling and S. Schupp and M. Wetzlinger
Opublikowane w: 2021
Wydawca: EasyChair
DOI: 10.29007/lhbw

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

Autorzy: Matthias Althoff, Marcelo Forets, Yangge Li, Sayan Mitra, Christian Schilling, Mark Wetzlinger, Daniel Zhuang
Opublikowane w: 2023
Wydawca: EasyChair
DOI: 10.29007/nl86

Implementation of Ellipsoidal Operations in CORA 2022

Autorzy: Victor Gaßmann, Matthias Althoff
Opublikowane w: 2022
Wydawca: EasyChair
DOI: 10.29007/p328

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

Autorzy: 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
Opublikowane w: EPiC Series in Computing volume 74, 2020, Strona(/y) 16--18
Wydawca: EasyChair
DOI: 10.29007/7dt2

Scalable Robust Model Predictive Control for Linear Sampled-Data Systems

Autorzy: Felix Gruber, Matthias Althoff
Opublikowane w: 2019 IEEE 58th Conference on Decision and Control (CDC), 2019, Strona(/y) 438-444, ISBN 978-1-7281-1398-2
Wydawca: IEEE
DOI: 10.1109/cdc40024.2019.9029873

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

Autorzy: Niklas Kochdumper, Christian Schilling, Matthias Althoff, Stanley Bak
Opublikowane w: 2023
Wydawca: Springer
DOI: 10.1007/978-3-031-33170-1_2

AROC: A Toolbox for Automated Reachset Optimal Controller Synthesis

Autorzy: N. Kochdumper, F. Gruber,V. Gaßmann, M. Klischat, B. Schürmann and M. Althoff
Opublikowane w: 2021
Wydawca: ACM

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

Autorzy: 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
Opublikowane w: Proc. of the 8th International Workshop on Applied Verification of Continuous and Hybrid Systems, 2021
Wydawca: EasyChair
DOI: 10.29007/2jw8

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

Autorzy: A. Kulmburg and M. Althoff
Opublikowane w: 2021
Wydawca: IEEE

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

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

Scalable Zonotope-Ellipsoid Conversions using the Euclidean Zonotope Norm

Autorzy: Victor Gasmann, Matthias Althoff
Opublikowane w: 2020 American Control Conference (ACC), 2020, Strona(/y) 4715-4721, ISBN 978-1-5386-8266-1
Wydawca: IEEE
DOI: 10.23919/acc45564.2020.9147938

Checking and Establishing Reachset Conformance in CORA 2023

Autorzy: Matthias Althoff
Opublikowane w: 2023
Wydawca: EasyChair
DOI: 10.29007/5v1g

Verification of Collision Avoidance for CommonRoad Traffic Scenarios

Autorzy: N. Kochdumper and P. Gassert and M. Althoff
Opublikowane w: 2021
Wydawca: EasyChair
DOI: 10.29007/1973

Event-Triggered Diffusion Kalman Filters

Autorzy: Amr Alanwar, Hazem Said, Ankur Mehta, Matthias Althoff
Opublikowane w: 2020 ACM/IEEE 11th International Conference on Cyber-Physical Systems (ICCPS), 2020, Strona(/y) 206-215, ISBN 978-1-7281-5501-2
Wydawca: IEEE
DOI: 10.1109/iccps48487.2020.00032

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

Autorzy: Mark Wetzlinger, Niklas Kochdumper, Stanley Bak, Matthias Althoff
Opublikowane w: 2023
Wydawca: ACM
DOI: 10.1145/3575870.3587121

Benchmarks for the Formal Verification of Power Systems

Autorzy: Matthias Althoff
Opublikowane w: 2022
Wydawca: EasyChair
DOI: 10.29007/tg4s

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

Autorzy: Mark Wetzlinger, Niklas Kochdumper, Stanley Bak, Matthias Althoff
Opublikowane w: IEEE Transactions on Automatic Control, 2023, ISSN 0018-9286
Wydawca: 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

Autorzy: Niklas Kochdumper, Hanna Krasowski, Xiao Wang, Stanley Bak, Matthias Althoff
Opublikowane w: IEEE Open Journal of Control Systems, 2023, ISSN 2694-085X
Wydawca: IEEE
DOI: 10.1109/ojcsys.2023.3256305

Distributed set-based observers using diffusion strategies

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

Provably-Correct and Comfortable Adaptive Cruise Control

Autorzy: Matthias Althoff, Sebastian Maierhofer, Christian Pek
Opublikowane w: IEEE Transactions on Intelligent Vehicles, Numer 6/1, 2021, Strona(/y) 159-174, ISSN 2379-8904
Wydawca: IEEE
DOI: 10.1109/tiv.2020.2991953

Comparison of guaranteed state estimators for linear time-invariant systems

Autorzy: Matthias Althoff, Jagat Jyoti Rath
Opublikowane w: Automatica, 2021, ISSN 0005-1098
Wydawca: Pergamon Press Ltd.

Adaptive reachability algorithms for nonlinear systems using abstraction error analysis

Autorzy: Mark Wetzlinger, Adrian Kulmburg, Alexis Le Penven, Matthias Althoff
Opublikowane w: Nonlinear Analysis: Hybrid Systems, 2022, ISSN 1751-570X
Wydawca: Elsevier BV
DOI: 10.1016/j.nahs.2022.101252

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

Autorzy: Aaron Pereira, Mareike Baumann, Jonas Gerstner, Matthias Althoff
Opublikowane w: IEEE Transactions on Automation Science and Engineering, 2023, ISSN 1545-5955
Wydawca: 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

Autorzy: Victor Gaßmann, Matthias Althoff
Opublikowane w: IEEE Open Journal of Control Systems, 2023, ISSN 2694-085X
Wydawca: IEEE
DOI: 10.1109/ojcsys.2023.3301335

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

Autorzy: Cees Ferdinand Verdier; Niklas Kochdumper; Matthias Althoff; Manuel Mazo
Opublikowane w: urn:issn:0005-1098, Numer 1, 2022, ISSN 0005-1098
Wydawca: Pergamon Press Ltd.
DOI: 10.1016/j.automatica.2022.110184

Optimizing Sets of Solutions for Controlling Constrained Nonlinear Systems

Autorzy: B. Schürmann and M. Althoff
Opublikowane w: IEEE Transactions on Automatic Control, Numer 66, 2021, Strona(/y) 981–994, ISSN 0018-9286
Wydawca: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tac.2020.2989762

Computing Safe Sets of Linear Sampled-Data Systems

Autorzy: Felix Gruber, Matthias Althoff
Opublikowane w: IEEE Control Systems Letters, Numer 5/2, 2021, Strona(/y) 385-390, ISSN 2475-1456
Wydawca: IEEE
DOI: 10.1109/lcsys.2020.3002476

Privacy-preserving set-based estimation using partially homomorphic encryption

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

Verified Polynomial Controller Synthesis for Disturbed Nonlinear Systems

Autorzy: Victor Gaßmann and Matthias Althoff
Opublikowane w: IFAC-PapersOnLine, Numer 5, 2021, Strona(/y) 85–90, ISSN 2405-8963
Wydawca: Elsevier
DOI: 10.1016/j.ifacol.2021.08.479

Constrained polynomial zonotopes

Autorzy: N. Kochdumper, M. Althoff
Opublikowane w: Acta Informatica, 2023, ISSN 1432-0525
Wydawca: Springer
DOI: 10.1007/s00236-023-00437-5

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

Autorzy: Noushin Mehdipour, Matthias Althoff, Radboud Duintjer Tebbens, Calin Belta
Opublikowane w: Automatica, 2023, ISSN 0005-1098
Wydawca: Pergamon Press Ltd.
DOI: 10.1016/j.automatica.2022.110692

Scalable Robust Safety Filter With Unknown Disturbance Set

Autorzy: Felix Guber, Matthias Althoff
Opublikowane w: IEEE Transactions on Automatic Control, 2023, ISSN 0018-9286
Wydawca: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tac.2023.3292329

Formal Safety Net Control Using Backward Reachability Analysis

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

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

Autorzy: Markus Koschi, Matthias Althoff
Opublikowane w: IEEE Transactions on Intelligent Vehicles, 2021, Strona(/y) 1-1, ISSN 2379-8904
Wydawca: IEEE
DOI: 10.1109/tiv.2020.3017385

Set Propagation Techniques for Reachability Analysis

Autorzy: Matthias Althoff, Goran Frehse, Antoine Girard
Opublikowane w: Annual Review of Control, Robotics, and Autonomous Systems, Numer 4/1, 2021, Strona(/y) 369-395, ISSN 2573-5144
Wydawca: Annual Reviews
DOI: 10.1146/annurev-control-071420-081941

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