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arXiv · 1909.04850

Towards Assume-Guarantee Profiles for Autonomous Vehicles

Tung Phan-Minh·Karena X. Cai·Richard M. Murray
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Abstract

Rules or specifications for autonomous vehicles are currently formulated on a case-by-case basis, and put together in a rather ad-hoc fashion. As a step towards eliminating this practice, we propose a systematic procedure for generating a set of supervisory specifications for self-driving cars that are 1) associated with a distributed assume-guarantee structure and 2) characterizable by the notion of consistency and completeness. Besides helping autonomous vehicles make better decisions on the road, the assume-guarantee contract structure also helps address the notion of blame when undesirable events occur. We give several game-theoretic examples to demonstrate applicability of our framework.

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Tung Phan-Minh, Karena X. Cai, Richard M. Murray. 2019-09-11. Towards Assume-Guarantee Profiles for Autonomous Vehicles. https://arxiv.org/abs/1909.04850

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