1 code implementation • 4 Apr 2024 • Loizos Hadjiloizou, Frank J. Jiang, Amr Alanwar, Karl H. Johansson

In this paper, we introduce a hybrid zonotope-based approach for formally verifying the behavior of autonomous systems operating under Linear Temporal Logic (LTL) specifications.

1 code implementation • 27 Mar 2024 • Ahmad Hafez, Frank J. Jiang, Karl H. Johansson, Amr Alanwar

In this paper, we propose reachability analysis using constrained polynomial logical zonotopes.

1 code implementation • 10 Sep 2023 • M. Umar B. Niazi, Michelle S. Chong, Amr Alanwar, Karl H. Johansson

When a few number of sensors (less than half) can be compromised, we prove that the estimated set remains bounded by a contracting set that converges to a ball whose radius is solely determined by the noise magnitude and is independent of the attack signals.

no code implementations • 21 Aug 2023 • August Söderlund, Frank J. Jiang, Vandana Narri, Amr Alanwar, Karl H. Johansson

Previous approaches to predicting the future state sets of pedestrians either do not provide safety guarantees or are overly conservative.

no code implementations • 20 Nov 2022 • Mahmoud Selim, Amr Alanwar, M. Watheq El-Kharashi, Hazem M. Abbas, Karl H. Johansson

If there is an intersection between the reachable set of the robot using the proposed action, we call the data-driven predictive controller to find the closest safe action to the proposed unsafe action.

1 code implementation • 15 Nov 2022 • Muhammad Umar B. Niazi, Amr Alanwar, Michelle S. Chong, Karl Henrik Johansson

This paper considers the problem of set-based state estimation for linear time-invariant (LTI) systems under time-varying sensor attacks.

1 code implementation • 10 Nov 2022 • Mahsa Farjadnia, Amr Alanwar, Muhammad Umar B. Niazi, Marco Molinari, Karl Henrik Johansson

By using the past noisy input-output data in the learning phase, we propose a novel method to over-approximate reachable sets of an unknown nonlinear system.

1 code implementation • 16 Oct 2022 • Amr Alanwar, Frank J. Jiang, Samy Amin, Karl H. Johansson

A logical zonotope, which is a new set representation for binary vectors, is introduced in this paper.

1 code implementation • 15 Apr 2022 • Mahmoud Selim, Amr Alanwar, Shreyas Kousik, Grace Gao, Marco Pavone, Karl H. Johansson

Reinforcement learning (RL) is capable of sophisticated motion planning and control for robots in uncertain environments.

no code implementations • 8 Nov 2021 • Amr Alanwar, Muhammad Umar B. Niazi, Karl H. Johansson

The offline phase utilizes past input-output data to estimate a set of possible coefficients of the polynomial system.

1 code implementation • 15 May 2021 • Amr Alanwar, Anne Koch, Frank Allgöwer, Karl Henrik Johansson

We consider the problem of computing reachable sets directly from noisy data without a given system model.

1 code implementation • 25 Mar 2021 • Amr Alanwar, Yvonne Stürz, Karl Henrik Johansson

Instead of depending on a system model in traditional predictive control, a controller utilizing data-driven reachable regions is proposed.

no code implementations • 2 Mar 2021 • Vandana Narri, Amr Alanwar, Jonas Mårtensson, Christoffer Norén, Laura Dal Col, Karl Henrik Johansson

Depending on the ego-vehicle's ability to fuse information from sensors in other vehicles or in the infrastructure, shared situational awareness is developed using a set-based estimation technique that provides robust guarantees for the location of the pedestrian.

1 code implementation • 26 Jan 2021 • Amr Alanwar, Alexander Berndt, Karl Henrik Johansson, Henrik Sandberg

We propose a method to perform set-based state estimation of an unknown dynamical linear system using a data-driven set propagation function.

1 code implementation • 17 Nov 2020 • Amr Alanwar, Anne Koch, Frank Allgöwer, Karl Henrik Johansson

In this paper, we propose a data-driven reachability analysis approach for unknown system dynamics.

1 code implementation • 19 Oct 2020 • Amr Alanwar, Victor Gassmann, Xingkang He, Hazem Said, Henrik Sandberg, Karl Henrik Johansson, Matthias Althoff

The set-based estimation has gained a lot of attention due to its ability to guarantee state enclosures for safety-critical systems.

Cryptography and Security Robotics

2 code implementations • 23 Mar 2020 • Amr Alanwar, Jagat Jyoti Rath, Hazem Said, Karl Henrik Johansson, Matthias Althoff

Both algorithms utilize a set-based diffusion step, which decreases the estimation errors and the size of estimated sets, and can be seen as a lightweight approach to achieve partial consensus between the distributed estimated sets.

no code implementations • 10 Nov 2017 • Amr Alanwar, Henrique Ferraz, Kevin Hsieh, Rohit Thazhath, Paul Martin, Joao Hespanha, Mani Srivastava

Therefore, we propose D-SLATS, a framework comprised of three different and independent algorithms to jointly solve time synchronization and localization problems in a distributed fashion.

1 code implementation • 1 Nov 2017 • Amr Alanwar, Hazem Said, Ankur Mehta, Matthias Althoff

Distributed state estimation strongly depends on collaborative signal processing, which often requires excessive communication and computation to be executed on resource-constrained sensor nodes.

Systems and Control Robotics Signal Processing

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