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Abstract
Agents operating in physical environments need to be able to handle delays in the input and output signals since neither data transmission nor sensing or actuating the environment are instantaneous. Shields are correct-by-construction runtime enforcers that guarantee safe execution by correcting any action that may cause a violation of a formal safety specification. Besides providing safety guarantees, shields should interfere minimally with the agent. Therefore, shields should pick the safe corrective actions in such a way that future interferences are most likely minimized. Current shielding approaches do not consider possible delays in the input signals in their safety analyses. In this paper, we address this issue. We propose synthesis algorithms to compute delay-resilient shields that guarantee safety under worst-case assumptions on the delays of the input signals. We also introduce novel heuristics for deciding between multiple corrective actions, designed to minimize future shield interferences caused by delays. As a further contribution, we present the first integration of shields in a realistic driving simulator. We implemented our delayed shields in the driving simulator CARLA. We shield potentially unsafe autonomous driving agents in different safety-critical scenarios and show the effect of delays on the safety analysis.
Original language | English |
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Title of host publication | Proceedings of the International Conference on Automated Planning and Scheduling (ICAPS) |
Place of Publication | Palo Alto, California, USA |
Publisher | AAAI Press |
Pages | 80-85 |
Number of pages | 6 |
Volume | 33 |
Edition | 1 |
ISBN (Print) | 978-1-57735-881-7 |
DOIs | |
Publication status | Published - 2023 |
Publication series
Name | Proceedings International Conference on Automated Planning and Scheduling, ICAPS |
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ISSN (Print) | 2334-0835 |
Keywords
- Control under Delay
- Autonomous Driving
- Reactive synthesis
- Safety
- Shielding
ASJC Scopus subject areas
- Information Systems and Management
- Artificial Intelligence
- Computer Science Applications
Fields of Expertise
- Information, Communication & Computing
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Dive into the research topics of 'Safety Shielding under Delayed Observation'. Together they form a unique fingerprint.Projects
- 1 Finished
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EU - FOCETA - Foundations for continuous engineering of trustworthy autonomy
1/10/20 → 31/10/23
Project: Research project