Assured Runtime Monitoring and Planning: Toward Verification of Neural Networks for Safe Autonomous Operations

摘要

Autonomous systems operating in uncertain envi ronments under the effects of disturbances and noises can reach unsafe states even while using finetuned controllers and precise sensors and actuators. To provide safety guarantees on such systems during motion planning operations, reachability analysis (RA) has been demonstrated to be a powerful tool. RA, however, suffers from computational complexity, especially when dealing with intricate systems characterized by high-order dynamics, making it hard to deploy for runtime monitoring.