Compositional and Contract-based Verification for Autonomous Driving on Road Networks
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liebenwein-safety-standard-isrr.pdf
Description
Main article
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4.97 MB
Format
Adobe PDF
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Author(s)
DeCastro, Jonathan
Alonso-Mora, Javier
Liebenwein, Lucas
Schwarting, Wilko
Vasile, Cristian-Ioan
Karaman, Sertac
Rus, Daniela L
Date Issued
December 2017
Journal
2017 International Symposium on Robotics Research (ISRR)
Publisher
International Foundation of Robotics Research
Citation
Liebenwein, Lucas et al. "Compositional and Contract-based Verification
for Autonomous Driving on Road Networks." International Symposium on Robotics Research (ISRR), 11-14 December, 2017, Puerto Varas, Chile, International Foundation of Robotics Research, 2017.
Version
Author's final manuscript
Abstract
Recent advances in autonomous driving have raised the problem of safety
to the forefront and incentivized research into establishing safety guarantees. In this paper, we propose a safety verification framework as a safety standard for driving controllers with full or shared autonomy based on compositional and contract-based principles. Our framework enables us to synthesize safety guarantees over entire road networks by first building a library of locally verified models, and then composing local models together to verify the entire network. Composition is achieved using assume-guarantee contracts that are synthesized concurrently during verification. Thus, we can reuse local models within and across networks, add additional models to cover local road geometries without re-verifying the entire library, and perform all computations in a parallel and distributed way, which enables computational tractability. Furthermore, we employ controller contracts such that any controller satisfying them can be certified safe. We demonstrate the practical effectiveness of our framework by certifying controllers over parts of the Manhattan road network.
Keywords: Verification, Safety, Autonomous Car, Composition, Contracts
MIT Department
Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory
Massachusetts Institute of Technology. Department of Aeronautics and Astronautics
Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science
Massachusetts Institute of Technology. Department of Mechanical Engineering
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DOI of Published Version
https://parasol.tamu.edu/isrr/isrr2017/program.php
