arXiv subjects

Alireza Partovi

Publications and source records attributed to Alireza Partovi.

5 recordsLinked to original sources

arXiv2024

Safety Verification for Evasive Collision Avoidance in Autonomous Vehicles with Enhanced Resolutions

This paper presents a comprehensive hazard analysis, risk assessment, and loss evaluation for an Evasive Minimum Risk Maneuvering (EMRM) system designed for autonomous vehicles. The EMRM system is engineered to enhance collision avoidance and mitigate loss severity by drawing inspiration from professional drivers who perform aggressive maneuvers while maintaining stability for effective risk mitigation. Recent advancements in autonomous vehicle technology demonstrate a growing capability for high-performance maneuvers. This paper discusses a comprehensive safety verification process and establishes a clear safety goal to enhance testing validation. The study systematically identifies potential hazards and assesses their risks to overall safety and the protection of vulnerable road users. A novel loss evaluation approach is introduced, focusing on the impact of mitigation maneuvers on loss severity. Additionally, the proposed mitigation integrity level can be used to verify the minimum-risk maneuver feature. This paper applies a verification method to evasive maneuvering, contributing to the development of more reliable active safety features in autonomous driving systems.

cs.RO↗

arXiv2020

Opacity of Discrete Event Systems with Active Intruder

Opacity is a security property formalizing the information leakage of a system to an external observer, namely intruder. The conventional opacity that has been studied in the Discrete Event System (DES) literature usually assumes passive intruders, who only observe the behavior of the system. However, in many cybersecurity concerns, such as web service, active intruders, who are capable of influencing the system's behavior beyond passive observations, need to be considered and defended against. We are therefore motivated to extend the opacity notions to handle active intruders. For this, we model the system as a non-deterministic finite-state transducer. It is assumed that the intruder has a full knowledge of the system structure and is capable of interacting with the system by injecting different inputs and observing its responses. In this setup, we first introduce reactive current-state opacity (RCSO) notion characterizing a property that the system does not leak its secret state regardless of how the intruder manipulates the system behavior. We furthermore extend this notion to language-based and initial-state reactive opacity notions, and study the relationship among them. It turns out that all the proposed reactive opacity notions are equivalent to RCSO. We therefore focus on RCSO and study its verification problem. It is shown that the RCSO can be verified by constructing an observer automaton.

cs.LO↗

arXiv2020

Ensuring Privacy in Location-Based Services: A Model-based Approach

In recent years, the widespread of mobile devices equipped with GPS and communication chips has led to the growing use of location-based services (LBS) in which a user receives a service based on his current location. The disclosure of user's location, however, can raise serious concerns about user privacy in general, and location privacy in particular which led to the development of various location privacy-preserving mechanisms aiming to enhance the location privacy while using LBS applications. In this paper, we propose to model the user mobility pattern and utility of the LBS as a Markov decision process (MDP), and inspired by probabilistic current state opacity notation, we introduce a new location privacy metric, namely $ε-$privacy, that quantifies the adversary belief over the user's current location. We exploit this dynamic model to design a LPPM that while it ensures the utility of service is being fully utilized, independent of the adversary prior knowledge about the user, it can guarantee a user-specified privacy level can be achieved for an infinite time horizon. The overall privacy-preserving framework, including the construction of the user mobility model as a MDP, and design of the proposed LPPM, are demonstrated and validated with real-world experimental data.

cs.CR↗

arXiv2019

Reactive Supervisory Control of Open Discrete-event Systems

The conventional Wonham-Ramadge supervisory control framework of discrete event systems enforces a closed discrete event system to generate correct behaviors under certain environments, which can be captured by an appropriate plant model. Nevertheless, such control methods cannot be directly applied for many practical engineering systems nowadays since they are open systems and their operation heavily depends on nontrivial interactions between the systems and the external environments. These open systems should be controlled in such a way that accomplishment of the control objective can be guaranteed for any possible environment, which may be dynamic, uncertain and sometimes unpredictable. In this paper, we aim at extending the conventional supervisory control theory to open discrete event systems in a reactive manner. Starting from a novel input-output automaton model of an open system, we consider control objectives that characterize the desired input-output behaviors of the system, based on which a game-theoretic approach is carried out to compute a reactive supervisor that steers the system to fulfill the specifications regardless of the environment behaviors. We present a necessary and sufficient conditions for the existence of such a reactive supervisor. Furthermore, illustrative examples are given throughout this paper to demonstrate the key definitions and the effectiveness of the proposed reactive supervisor synthesis framework.

eess.SP↗

arXiv2017

Reactive Integrated Mission and Motion planning

Correct-by-construction manipulation planning in a dynamic environment, where other agents can manipulate objects in the workspace, is a challenging problem. The tight coupling of actions and motions between agents and complexity of mission specifications makes the problem computationally intractable. This paper presents a reactive integrated mission and motion planning for mobile-robot manipulator systems operating in a partially known environment. We introduce a multi-layered synergistic framework that receives high-level mission specifications expressed in linear temporal logic and generates dynamically-feasible and collision-free motion trajectories to achieve it. In the high-level layer, a mission planner constructs a symbolic two-player game between the robots and their environment to synthesis a strategy that adapts to changes in the workspace imposed by other robots. A bilateral synergistic layer is developed to map the designed mission plan to an integrated task and motion planner, constructing a set of robot tasks to move the objects according to the mission strategy. In the low-level planning stage, verifiable motion controllers are designed that can be incrementally composed to guarantee a safe motion planning for each high-level induced task. The proposed framework is illustrated with a multi-robot warehouse example with the mission of moving objects to various locations.

cs.RO↗