2023 IEEE International Conference on Assured Autonomy (ICAA)最新文献_第2页

Architecting Systems for Assured Autonomy 为保证自治构建系统

2023 IEEE International Conference on Assured Autonomy (ICAA) Pub Date : 2023-06-01 DOI: 10.1109/ICAA58325.2023.00021

R. D. Avila, Jason B. Clark

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Example Applications of Formal Methods to Aerospace and Autonomous Systems 形式化方法在航空航天和自主系统中的应用实例

2023 IEEE International Conference on Assured Autonomy (ICAA) Pub Date : 2023-06-01 DOI: 10.1109/ICAA58325.2023.00018

Laura R. Humphrey

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引用次数: 0

Sponsors 赞助商

2023 IEEE International Conference on Assured Autonomy (ICAA) Pub Date : 2023-06-01 DOI: 10.1109/icaa58325.2023.00007

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Probabilistic Dynamic Modeling and Control for Skid-Steered Mobile Robots in Off-Road Environments 非道路环境下滑移转向移动机器人的概率动力学建模与控制

2023 IEEE International Conference on Assured Autonomy (ICAA) Pub Date : 2023-06-01 DOI: 10.1109/ICAA58325.2023.00016

Ananya Trivedi, Salah Bazzi, Mark Zolotas, T. Padır

{"title":"Probabilistic Dynamic Modeling and Control for Skid-Steered Mobile Robots in Off-Road Environments","authors":"Ananya Trivedi, Salah Bazzi, Mark Zolotas, T. Padır","doi":"10.1109/ICAA58325.2023.00016","DOIUrl":"https://doi.org/10.1109/ICAA58325.2023.00016","url":null,"abstract":"Skid-Steered Mobile Robots (SSMRs) are commonly deployed for autonomous navigation across challenging off-road terrains due to their high maneuverability. However, modeling the tire-terrain interactions for these robots when operating at their dynamic limits is challenging, since slipping and skidding govern their movement. During nominal operation, the data collected from the deviation of the robot’s measured states from their commanded values can be informative of these hard-to-model dynamics. In this work-in-progress paper, we propose a probabilistic motion model for SSMRs by leveraging least squares and Sparse Gaussian Process Regression (SGPR) algorithms. This model allows for a nonlinear stochastic Model Predictive Control (MPC) formulation that can be solved in real-time. Initial results on the application of GPR to account for unmodeled dynamics of a physics-simulated quadrotor are shown, suggesting that it can similarly be put to good use for off-road autonomy applications. We explain how these results reinforce the promising application of an SGPR model to risk-averse motion planning for SSMRs.","PeriodicalId":190198,"journal":{"name":"2023 IEEE International Conference on Assured Autonomy (ICAA)","volume":"31 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127846472","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Space Booby Traps: Hacking Back and Assured Cyber Deterrence in Space 太空陷阱:黑客攻击和太空网络威慑

2023 IEEE International Conference on Assured Autonomy (ICAA) Pub Date : 2023-06-01 DOI: 10.1109/ICAA58325.2023.00024

Jocelyn Hsu, Gregory Falco

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Keynotes 主题演讲

2023 IEEE International Conference on Assured Autonomy (ICAA) Pub Date : 2023-06-01 DOI: 10.1109/icaa58325.2023.00008

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Cascading Negative Transfer in Networks of Machine Learning Systems 机器学习系统网络中的级联负迁移

2023 IEEE International Conference on Assured Autonomy (ICAA) Pub Date : 2023-06-01 DOI: 10.1109/ICAA58325.2023.00028

Tyler Cody, P. Beling

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Live Virtual Constructive Environment for Assuring the Safety and Security of Complex Autonomous Vehicles 确保复杂自动驾驶车辆安全的实时虚拟构建环境

2023 IEEE International Conference on Assured Autonomy (ICAA) Pub Date : 2023-06-01 DOI: 10.1109/ICAA58325.2023.00015

Bradley Potteiger, T. Dignan, Amber Mills, E. Pavelka, Caleb P. Frey, Ben Nathan, Milki Dagne, Violet Garibaldi, Ben Otter

{"title":"Live Virtual Constructive Environment for Assuring the Safety and Security of Complex Autonomous Vehicles","authors":"Bradley Potteiger, T. Dignan, Amber Mills, E. Pavelka, Caleb P. Frey, Ben Nathan, Milki Dagne, Violet Garibaldi, Ben Otter","doi":"10.1109/ICAA58325.2023.00015","DOIUrl":"https://doi.org/10.1109/ICAA58325.2023.00015","url":null,"abstract":"Autonomous and connected vehicle technologies are rapidly emerging and being introduced to society. Traditional vehicles are becoming more sophisticated with integrated driver-assist features incorporating AI algorithms, control systems, and communication interfaces. Modern vehicles are tightly-coupled into a system of systems more robust than the commonly leveraged physical world simulations used in the research community and industry today. This means that components beyond just the AI model effect the safety and security of operating vehicles. It is imperative to consider the complex and interconnected nature of these systems during pre-deployment development and testing. In this paper, we discuss our preliminary work on a multi-level simulation and hardware-in-the-loop (HITL) testbed capable of evaluating vehicle reactions to diverse driving situations based on virtually constructed worlds. Our framework is able to evaluate vehicle behavior at scale in a simulated world while seamlessly integrating physical hardware via a digital-twin approach.","PeriodicalId":190198,"journal":{"name":"2023 IEEE International Conference on Assured Autonomy (ICAA)","volume":"33 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115326628","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Driver Alerting in ADAS-Equipped Cars: A Field Study 配备adas的汽车的驾驶员警报:一项实地研究

2023 IEEE International Conference on Assured Autonomy (ICAA) Pub Date : 2023-06-01 DOI: 10.1109/ICAA58325.2023.00012

M. L. Cummings, Ben Bauchwitz

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Assurance for Autonomy – JPL’s past research, lessons learned, and future directions 保证自主性-喷气推进实验室过去的研究，经验教训，和未来的方向

2023 IEEE International Conference on Assured Autonomy (ICAA) Pub Date : 2023-05-16 DOI: 10.1109/ICAA58325.2023.00022

M. Feather, A. Pinto

{"title":"Assurance for Autonomy – JPL’s past research, lessons learned, and future directions","authors":"M. Feather, A. Pinto","doi":"10.1109/ICAA58325.2023.00022","DOIUrl":"https://doi.org/10.1109/ICAA58325.2023.00022","url":null,"abstract":"Robotic space missions have long depended on automation, defined in the 2015 NASA Technology Roadmaps as “the automatically-controlled operation of an apparatus, process, or system using a pre-planned set of instructions (e.g., a command sequence),” to react to events when a rapid response is required. Autonomy, defined there as “the capacity of a system to achieve goals while operating independently from external control,” is required when a wide variation in circumstances precludes responses being pre-planned, instead autonomy follows an onboard deliberative process to determine the situation, decide the response, and manage its execution. Autonomy is increasingly called for to support adventurous space mission concepts, as an enabling capability or as a significant enhancer of the science value that those missions can return. But if autonomy is to be allowed to control these missions’ expensive assets, all parties in the lifetime of a mission, from proposers through ground control, must have high confidence that autonomy will perform as intended to keep the asset safe to (if possible) accomplish the mission objectives. The role of mission assurance is a key contributor to providing this confidence, yet assurance practices honed over decades of spaceflight have relatively little experience with autonomy. To remedy this situation, researchers in JPL’s software assurance group have been involved in the development of techniques specific to the assurance of autonomy. This paper summarizes over two decades of this research, and offers a vision of where further work is needed to address open issues.","PeriodicalId":190198,"journal":{"name":"2023 IEEE International Conference on Assured Autonomy (ICAA)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-05-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129921608","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0