Assurance-based Learning-enabled Cyber-Physical Systems

10/25/2021

08:52 AM Document: Runtime (Online) Verification of Autonomous Systems with Real-Time Reachability

Several orders of magnitude progress made analyzing learning-enabled components (LECs) like neural networks and usage...

Daniel Stojcsics

08:51 AM waypoint_following_normal.mp4

Nominal scenario without obstacles

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08:50 AM way-point-following-obstacle-avoidance_4x.mp4

Nominal scenario with obstacle avoidance

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08:50 AM degraded-obstacle-avoidance4x.mp4

Degradation scenario with obstacle avoidance

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08:50 AM degraded-waypoint-following-4x.mp4

Degradation scenario without obstacles

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10/12/2021

11:49 AM cp4_alter_wp.mp4

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10/08/2021

09:04 AM Document: Dynamic assurance with ReSonAte

This video presents a real-time hazard rate calculation​ with ReSonAte framework based on a CP2 thruster degradation ...

Daniel Stojcsics

09:00 AM dynamic_assurance_with_resonate.mp4

Daniel Stojcsics

10/05/2021

12:56 PM Document: VU FLS LEC with AM

This video presents the VU FLS LEC (LSTM noise filtering LEC) with VAE Assurance Monitor.
This LEC is using the FLS ...

Daniel Stojcsics

12:53 PM vu_fls_lec_am.mp4

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12:51 PM Document: CP4_01 Obstacle close to waypoint

This simulation presents a waypoint following scenario, where a static obstacle is detected close to waypoint #3. UUV...

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12:46 PM Document: CP4_02 Wall obstacle

This simulation presents a waypoint following scenario, with a wide "wall" obstacle. UUV avoids the obstacle and retu...

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12:45 PM cp4_wall_xte.mp4

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12:44 PM Document: CP4_05 Random waypoints

This simulation presents a waypoint following scenario where the waypoints are randomly generated. Cross track error ...

Daniel Stojcsics

12:43 PM cp4_05_random.mp4

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12:41 PM Document: CP4 Flight Data Recorder (search and rescue)

This simulation presents a waypoint following scenario, with a Flight Data Recorder spawned inside the waypoints cove...

Daniel Stojcsics

12:39 PM cp4_03_fdr_obstacles.mp4

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12:39 PM Document: CP2 Thruster Degradations

These videos are presenting a CP2 Thruster Degradation scenario with Fault Detection, Isolation and control Reallocat...

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12:34 PM cp2_fdir_r3.mp4

cp2_in_detail

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12:33 PM cp2_degradation.mp4

cp2_with_ide_in_alc

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12:20 PM Document: BlueROV failsafe scenarios

CP1_01: Geofence RTH

This simulation presents a pipe tracking scenario with Geofence failsafe and Return To Home (...

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12:18 PM cp1_01.mp4

CP1_01: geofence_rth

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12:18 PM cp1_05.mp4

CP1_05: Multiple Failsafes

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12:16 PM Document: CP1 Pipe mapping with Obstacle avoidance (CP1_00)

This simulation presents a pipe tracking scenario, default parameters and high battery level with static box obstacle...

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12:10 PM cp1_00.mp4

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12:08 PM Document: Fault-Adaptive Autonomy in Systems with Learning-Enabled Components

Autonomous Cyber-Physical Systems (CPS) must be robust against potential failure modes, including physical degradatio...

Daniel Stojcsics

12:08 PM sensors-21-06089-v2(1).pdf

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12:04 PM Document: Behaviour Tree complex example with BlueROV2 UUV

Behaviour Tree complex example with RQT for behaviour trees, RViz and PlotJuggler in the ALC Toolchain

This vid...

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11:54 AM btree_complex_example.mp4

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11:51 AM Document: Launching scenarios in headless mode using ALC Toolchain

This is an example how to use the ALC Toolchain and run example scenarios in headless mode. Also presents how to plot...

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11:43 AM headless.mp4

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11:42 AM Document: Working with the IDE in ALC Toolchain

This video presents a step-by-step example how to work with the IDE in the ALC Toolchain running cp1_02 and cp1_03 sc...

Daniel Stojcsics

11:37 AM working_with_ide_in_alc.mp4

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