论文标题
基于控制屏障功能的安全 - 关键自治系统的正式测试合成
Formal Test Synthesis for Safety-Critical Autonomous Systems based on Control Barrier Functions
论文作者
论文摘要
自主系统的多产量增加引起了有关其在实际情况下安全实例化的问题。在关键环境中的失败，例如人类机器人互动甚至自动驾驶，最终会导致生命丧失。在这种情况下，本文旨在提供一种可以算法测试和评估自主系统的方法。给定一个具有某些操作规格的黑盒自主系统，我们基于控制屏障功能构建了一个最小值问题，以生成旨在最佳评估系统是否满足规格的测试参数系列。为了说明我们的结果，我们利用Robotarium作为一个自主系统的案例研究，该系统声称可以同时满足Waypoint导航和避免障碍。我们证明了提出的测试合成框架系统地找到了识别系统故障点的事件序列（测试）。
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.
