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Formal Test Synthesis for Safety-Critical Autonomous Systems based on Control Barrier Functions

Akella, Prithvi and Ahmadi, Mohamadreza and Murray, Richard M. and Ames, Aaron D. (2020) Formal Test Synthesis for Safety-Critical Autonomous Systems based on Control Barrier Functions. . (Unpublished) https://resolver.caltech.edu/CaltechAUTHORS:20200527-124225030

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Abstract

The prolific rise in autonomous systems has led to questions regarding their safe instantiation in real-world scenarios. Failures in safety-critical contexts such as human-robot interactions or even autonomous driving can ultimately lead to loss of life. In this context, this paper aims to provide a method by which one can algorithmically test and evaluate an autonomous system. Given a black-box autonomous system with some operational specifications, we construct a minimax problem based on control barrier functions to generate a family of test parameters designed to optimally evaluate whether the system can satisfy the specifications. To illustrate our results, we utilize the Robotarium as a case study for an autonomous system that claims to satisfy waypoint navigation and obstacle avoidance simultaneously. We demonstrate that the proposed test synthesis framework systematically finds those sequences of events (tests) that identify points of system failure.


Item Type:Report or Paper (Discussion Paper)
Related URLs:
URLURL TypeDescription
http://arxiv.org/abs/2004.04227arXivDiscussion Paper
ORCID:
AuthorORCID
Ahmadi, Mohamadreza0000-0003-1447-3012
Murray, Richard M.0000-0002-5785-7481
Ames, Aaron D.0000-0003-0848-3177
Additional Information:This work was supported by the Air Force Office of Scientific Research.
Funders:
Funding AgencyGrant Number
Air Force Office of Scientific Research (AFOSR)UNSPECIFIED
Record Number:CaltechAUTHORS:20200527-124225030
Persistent URL:https://resolver.caltech.edu/CaltechAUTHORS:20200527-124225030
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:103490
Collection:CaltechAUTHORS
Deposited By: Tony Diaz
Deposited On:27 May 2020 21:23
Last Modified:03 Aug 2020 21:26

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