Yash Vardhan Pant's research while affiliated with University of California, Berkeley and other places

Publications (41)

Preprint
Full-text available
Decentralized planning for multi-agent systems, such as fleets of robots in a search-and-rescue operation, is often constrained by limitations on how agents can communicate with each other. One such limitation is the case when agents can communicate with each other only when they are in line-of-sight (LOS). Developing decentralized planning methods...
Article
Urban Air Mobility, the scenario where hundreds of manned and Unmanned Aircraft Systems (UASs) carry out a wide variety of missions (e.g., moving humans and goods within the city), is gaining acceptance as a transportation solution of the future. One of the key requirements for this to happen is safely managing the air traffic in these urban airspa...
Article
In this work, we present an integrated Framework for Autonomous Drone Safety (FADS). The demand for safe and efficient mobility of people and goods is growing rapidly, in line with the growth in population in US urban centers. In response, new technologies to meet these urban mobility demands are also rapidly maturing in preparation for future full...
Preprint
Full-text available
This paper summarizes our formal approach to testing autonomous vehicles (AVs) in simulation for the IEEE AV Test Challenge. We demonstrate a systematic testing framework leveraging our previous work on formally-driven simulation for intelligent cyber-physical systems. First, to model and generate interactive scenarios involving multiple agents, we...
Preprint
Full-text available
Urban Air Mobility, the scenario where hundreds of manned and Unmanned Aircraft System (UAS) carry out a wide variety of missions (e.g. moving humans and goods within the city), is gaining acceptance as a transportation solution of the future. One of the key requirements for this to happen is safely managing the air traffic in these urban airspaces...
Preprint
Full-text available
Urban Air Mobility (UAM), or the scenario where multiple manned and Unmanned Aerial Vehicles (UAVs) carry out various tasks over urban airspaces, is a transportation concept of the future that is gaining prominence. UAM missions with complex spatial, temporal and reactive requirements can be succinctly represented using Signal Temporal Logic (STL),...
Preprint
With increasing urban population, there is global interest in Urban Air Mobility (UAM), where hundreds of autonomous Unmanned Aircraft Systems (UAS) execute missions in the airspace above cities. Unlike traditional human-in-the-loop air traffic management, UAM requires decentralized autonomous approaches that scale for an order of magnitude higher...
Preprint
We present a new approach to automated scenario-based testing of the safety of autonomous vehicles, especially those using advanced artificial intelligence-based components, spanning both simulation-based evaluation as well as testing in the real world. Our approach is based on formal methods, combining formal specification of scenarios and safety...
Chapter
Safe planning for fleets of Unmaned Aircraft Systems (UAS) performing complex missions in urban environments has typically been a challenging problem. In the United States of America, the National Aeronautics and Space Administration (NASA) and the Federal Aviation Administration (FAA) have been studying the regulation of the airspace when multiple...
Article
Safe planning for fleets of Unmaned Aircraft Systems (UAS) performing complex missions in urban environments has typically been a challenging problem. In the United States of America, the National Aeronautics and Space Administration (NASA) and the Federal Aviation Administration (FAA) have been studying the regulation of the airspace when multiple...
Conference Paper
In multi-agent systems, robots transmit their planned trajectories to each other or to a central controller, and each receiver plans its own actions by maximizing a measure of mission satisfaction. For missions expressed in temporal logic, the robustness function plays the role of satisfaction measure. Currently, a Piece-Wise Linear (PWL) or piece-...
Conference Paper
Medical cyber-physical systems, such as the implantable cardioverter defibrillator (ICD), require evaluation of safety and efficacy in the context of a patient population in a clinical trial. Advances in computer modeling and simulation allow for generation of a simulated cohort or virtual cohort which mimics a patient population and can be used as...
Article
In multi-agent systems, robots transmit their planned trajectories to each other or to a central controller, and each receiver plans its own actions by maximizing a measure of mission satisfaction. For missions expressed in temporal logic, the robustness function plays the role of satisfaction measure. Currently, a Piece-Wise Linear (PWL) or piece-...
Article
Full-text available
The correct and timely completion of the sensing and action loop is of utmost importance in safety critical autonomous systems. A crucial part of the performance of this feedback control loop are the computation time and accuracy of the estimator which produces state estimates used by the controller. These state estimators, especially those used fo...
Article
Medical cyber-physical systems, such as the implantable cardioverter defibrillator (ICD), require evaluation of safety and efficacy in the context of a patient population in a clinical trial. Advances in computer modeling and simulation allow for generation of a simulated cohort or virtual cohort which mimics a patient population and can be used as...
Preprint
Full-text available
In 2005 DARPA labeled the realization of viable autonomous vehicles (AVs) a grand challenge; a short time later the idea became a moonshot that could change the automotive industry. Today, the question of safety stands between reality and solved. Given the right platform the CPS community is poised to offer unique insights. However, testing the lim...
Article
Safe autonomous operation of dynamical systems has become one of the most important research problems. Algorithms for planning and control of such systems are now finding place on production vehicles, and are fast becoming ubiquitous on the roads and air-spaces. However most algorithms for such operations, that provide guarantees, either do not sca...
Conference Paper
The ability of autonomous unmanned aerial vehicles (aUAVs) to carry out a diverse range of missions presents enormous societal and economic benefits. However, one critical safety issue that must be addressed prior to large-scale aUAV adoption is the potential for aUAV-on-aUAV trajectory conflicts. Current decentralized methods for trajectory confli...
Article
Full-text available
The problem of safe planning and control for multi- drone systems across a variety of missions is of critical impor- tance, as the scope of tasks assigned to such systems increases. In this paper, we present an approach to solve this problem for multi-quadrotor missions. Given a mission expressed in Signal Temporal Logic (STL), our controller maxim...
Article
The problem of safe planning and control for multi- drone systems across a variety of missions is of critical importance, as the scope of tasks assigned to such systems increases. In this paper, we present an approach to solve this problem for multi-quadrotor missions. Given a mission expressed in Signal Temporal Logic (STL), our controller maximiz...
Article
Full-text available
Modern control systems, like controllers for swarms of quadrotors, must satisfy complex control objectives while withstanding a wide range of disturbances, from bugs in their software to attacks on their sensors and changes in their environments. These requirements go beyond stability and tracking, and involve temporal and sequencing constraints on...
Article
Cyber-Physical Systems must withstand a wide range of errors, from bugs in their software to attacks on their physical sensors. Given a formal specification of their desired behavior in Metric Temporal Logic (MTL), the robust semantics of the specification provides a notion of system robustness that can be calculated directly on the output behavior...
Article
Full-text available
Robust predictive control of non-linear systems under state estimation errors and input and state constraints is a challenging problem, and solutions to it have generally involved solving computationally hard non-linear optimizations. Feedback linearization has reduced the computational burden, but has not yet been solved for robust model predictiv...
Article
With an increasing autonomy in modern control systems comes an increasing amount of sensor data to be processed, leading to overloaded computation and communication in the systems. For example, a vision-based robot controller processes large image data from cameras at high frequency to observe the robot’s state in the surrounding environment, which...
Conference Paper
Hybrid energy systems, which consist of a load powered by a source and a form of energy storage, find applications in many systems, e.g., the electric grid and electric vehicles. A key problem for hybrid energy systems is the reduction of peak power consumption to ensure cost-efficient operation as peak power draws require additional resources and...
Article
Full-text available
Hybrid energy systems, which consist of a load powered by a source and a form of energy storage, find applications in many systems, e.g., the electric grid and electric vehicles. A key problem for hybrid energy systems is the reduction of peak power consumption to ensure cost-efficient operation as peak power draws require additional resources and...
Article
Full-text available
Hybrid energy systems consist of a load powered by a source and a form of energy storage. Systems with mixed energy supply find applications in the electric grid with renewable and non-renewable sources, in mission critical systems such as Mars rovers with rechargeable and non-rechargeable batteries and low-power monitoring systems with energy harv...
Article
Vehicles involved in urban commutes are subjected to highly variable loads as they traverse varying gradients and stop-and-go traffic. Electric Vehicles can achieve a high efficiency under these conditions due to their ability to recover energy during braking. However, the high current loads during both charging and discharging cause battery energy...
Article
In 2010, over 20.3 million vehicles were recalled. Software issues related to automotive controls such as cruise control, anti-lock braking system, traction control and stability control, account for an increasingly large percentage of the overall vehicles recalled. There is a need for new and scalable methods to evaluate automotive controls in a r...
Conference Paper
In 2010, over 20.3 million vehicles were recalled. Software issues related to automotive controls such as cruise control, anti-lock braking system, traction control and stability control, account for an increasingly large percentage of the overall vehicles recalled. There is a need for new and scalable methods to evaluate automotive controls in a r...

Citations

... In the future, we will both address these limitations and apply STI in other use-cases, including the following: STI can assist with rare test dataset/benchmark generation for autonomous driving tasks. For example, STI can be integrated with fuzzing and adversarial techniques to identify cases in which AVs will collide [26,27]. STI can also be directly integrated into the planner [28], alleviating the need for the mitigation controller. ...
... that particular cases feature enough structure for efficient optimization schemes [10], [11]. In particular, the authors of [12] study sensing-constrained task-driven LQG control, and authors of [13]- [17] focus on the design of robots which can solve path planning problem. While in [18] researchers provide a framework to jointly optimize sensor selection and control, by minimizing the information a sensor needs to acquire, authors of [19], [20] propose techniques for optimal control with communication constraints. ...
... Furthermore, four papers study the use of models as the initial step for derivation of other artefacts (model-driven engineering). Examples are the development of big data ML software [109] and the incorporation of safe and robust control policies in ML models [70]. The other two from the same authors [198,199] target the derivation of testing frameworks for evaluating properties of an autonomous driving system with ML components. ...
... When agents are visible to each other or can communicate, there exist various methods for collision avoidance, e.g., via use of velocity obstacles [11], navigation functions [12], barrier functions [13], or by combining learning-based decision making with decentralized model predictive control [14]. ...
... They measured the Kernel Density similarity between the synthesized scenarios and the actual accident data. Fremont et al. [44] proposed comprehensive scenario-based experiments to generate 1294 safety assessment cases. However, some of the scenarios based on the simulations may not be valid in the real world. ...
... Over the last few years, the field of control of multi-robot systems under high-level specifications has been gaining significant attention (Wongpiromsarn et al. 2009;Nikou 2019;Kantaros and Zavlanos 2016;Hasanbeig et al. 2019;Pant et al. 2018Pant et al. , 2019Raman et al. 2014). Applications arise in the fields of autonomous driving, industrial work by autonomously operating robot systems, indoor transportation in warehouses etc (Ulusoy et al. ...
... In fact, the increased demand for such systems, known as distributed and dynamically adaptable systems, is clear in several fields like medical monitoring (i.e., providing assistance to patients suffering from chronic diseases) (Buranapanichkit et al., 2019;Marathe et al., 2019;Rahman et al., 2019;Tabei et al., 2020), healthcare systems Lahami et al., 2018;Lahami et al., 2019;Turk et al., 2019), crisis management (i.e., contributing to detect, evaluate, and handle crisis situations such as disasters, accidents, etc.) (Bekesiene et al., 2019;Neidhardt et al., 2019;Pohl et al., 2019;Ruicka et al., 2019), control of fleets (i.e., contributing to control and manage vehicle fleet like speed control, maintenance, tracking, etc.) (Chakraborty et al., 2019;López et al., 2019;Mangharam et al., 2019;Powell et al., 2019;Zhou et al., 2020), smart cities Kuru et al., 2020), Internet of Things (IoT) systems , Web services Maâlej et al., 2018;Nguyen et al., 2020), information systems (Beese et al., 2019;Kim & Kishore, 2019;, etc. This high demand is underlined essentially by the critical and complex nature of these systems which similarly need to continue conforming to their non-functional and functional requirements and to maintain interesting properties like mobility and context awareness. ...
... Here, the constraints on the state have to be satisfied with some probability 1 − ζ, rather than in a deterministic manner as in the RAMPC formulation. This work is presented in detail in Pant et al. [2019]. ...
... Robust interpretation yields a real number indicative of the distance to the falsification boundary. STL has seen numerous extensions improving expressiveness and signal classes [30,31,32,33] as well as smooth differentiable semantics [34,35,36]. Solutions to well known dimension and magnitude mismatch in robust STL interpretation were proposed recently in [37] but have not yet been used in a RL setting. ...