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In autonomous robotics, a significant challenge involves devising robust solutions for Active Collaborative SLAM (AC-SLAM). This process requires multiple robots to cooperatively explore and map an unknown environment by intelligently coordinating their movements and sensor data acquisition. In this article, we present an efficient visual AC-SLAM method using aerial and ground robots for environment exploration and mapping. We propose an efficient frontiers filtering method that takes into account the common IoU map frontiers and reduces the frontiers for each robot. Additionally, we also present an approach to guide robots to previously visited goal positions to promote loop closure to reduce SLAM uncertainty. The proposed method is implemented in ROS and evaluated through simulations on publicly available datasets and similar methods, achieving an accumulative average of 59% of increase in area coverage., Comment: 6 Pages, 7 Figures, 2 Tables. arXiv admin note: text overlap with arXiv:2310.01967

Occlusion presents a significant challenge for safety-critical applications such as autonomous driving. Collaborative perception has recently attracted a large research interest thanks to the ability to enhance the perception of autonomous vehicles via deep information fusion with intelligent roadside units (RSU), thus minimizing the impact of occlusion. While significant advancement has been made, the data-hungry nature of these methods creates a major hurdle for their real-world deployment, particularly due to the need for annotated RSU data. Manually annotating the vast amount of RSU data required for training is prohibitively expensive, given the sheer number of intersections and the effort involved in annotating point clouds. We address this challenge by devising a label-efficient object detection method for RSU based on unsupervised object discovery. Our paper introduces two new modules: one for object discovery based on a spatial-temporal aggregation of point clouds, and another for refinement. Furthermore, we demonstrate that fine-tuning on a small portion of annotated data allows our object discovery models to narrow the performance gap with, or even surpass, fully supervised models. Extensive experiments are carried out in simulated and real-world datasets to evaluate our method., Comment: IV 2024

Multi-nucleon transfer reaction between 136Xe beam and 198Pt target was performed using the VAMOS++ spectrometer at GANIL to study the structure of n-rich nuclei around N=126. Unambiguous charge state identification was obtained by combining two supervised machine learning methods, deep neural network (DNN) and positional correction using a gradient-boosting decision tree (GBDT). The new method reduced the complexity of the kinetic energy calibration and outperformed the conventional method, improving the charge state resolution by 8%

In this article, we present an efficient multi-robot active SLAM framework that involves a frontier-sharing method for maximum exploration of an unknown environment. It encourages the robots to spread into the environment while weighting the goal frontiers with the pose graph SLAM uncertainly and path entropy. Our approach works on a limited number of frontier points and weights the goal frontiers with a utility function that encapsulates both the SLAM and map uncertainties, thus providing an efficient and not computationally expensive solution. Our approach has been tested on publicly available simulation environments and on real robots. An accumulative 31% more coverage than similar state-of-the-art approaches has been obtained, proving the capability of our approach for efficient environment exploration., Comment: 14 pages, 9 figures

In this article we present a utility function for Active SLAM (A-SLAM) which utilizes map entropy along with D-Optimality criterion metrices for weighting goal frontier candidates. We propose a utility function for frontier goal selection that exploits the occupancy grid map by utilizing the path entropy and favors unknown map locations for maximum area coverage while maintaining a low localization and mapping uncertainties. We quantify the efficiency of our method using various graph connectivity matrices and map efficiency indexes for an environment exploration task. Using simulation and experimental results against similar approaches we achieve an average of 32% more coverage using publicly available data sets., Comment: 7 pages, 8 figures, Submitted to IEEE SOLI Conference. arXiv admin note: text overlap with arXiv:2212.11654

We present a major new version of Scenic, a probabilistic programming language for writing formal models of the environments of cyber-physical systems. Scenic has been successfully used for the design and analysis of CPS in a variety of domains, but earlier versions are limited to environments which are essentially two-dimensional. In this paper, we extend Scenic with native support for 3D geometry, introducing new syntax which provides expressive ways to describe 3D configurations while preserving the simplicity and readability of the language. We replace Scenic's simplistic representation of objects as boxes with precise modeling of complex shapes, including a ray tracing-based visibility system that accounts for object occlusion. We also extend the language to support arbitrary temporal requirements expressed in LTL, and build an extensible Scenic parser generated from a formal grammar of the language. Finally, we illustrate the new application domains these features enable with case studies that would have been impossible to accurately model in Scenic 2., Comment: 13 pages, 6 figures. Full version of a CAV 2023 tool paper, to appear in the Springer Lecture Notes in Computer Science series

Occlusion is a major challenge for LiDAR-based object detection methods. This challenge becomes safety-critical in urban traffic where the ego vehicle must have reliable object detection to avoid collision while its field of view is severely reduced due to the obstruction posed by a large number of road users. Collaborative perception via Vehicle-to-Everything (V2X) communication, which leverages the diverse perspective thanks to the presence at multiple locations of connected agents to form a complete scene representation, is an appealing solution. State-of-the-art V2X methods resolve the performance-bandwidth tradeoff using a mid-collaboration approach where the Bird-Eye View images of point clouds are exchanged so that the bandwidth consumption is lower than communicating point clouds as in early collaboration, and the detection performance is higher than late collaboration, which fuses agents' output, thanks to a deeper interaction among connected agents. While achieving strong performance, the real-world deployment of most mid-collaboration approaches is hindered by their overly complicated architectures, involving learnable collaboration graphs and autoencoder-based compressor/ decompressor, and unrealistic assumptions about inter-agent synchronization. In this work, we devise a simple yet effective collaboration method that achieves a better bandwidth-performance tradeoff than prior state-of-the-art methods while minimizing changes made to the single-vehicle detection models and relaxing unrealistic assumptions on inter-agent synchronization. Experiments on the V2X-Sim dataset show that our collaboration method achieves 98\% of the performance of an early-collaboration method, while only consuming the equivalent bandwidth of a late-collaboration method., Comment: The code is available at https://github.com/quan-dao/practical-collab-perception

Low-resolution point clouds are challenging for object detection methods due to their sparsity. Densifying the present point cloud by concatenating it with its predecessors is a popular solution to this challenge. Such concatenation is possible thanks to the removal of ego vehicle motion using its odometry. This method is called Ego Motion Compensation (EMC). Thanks to the added points, EMC significantly improves the performance of single-frame detectors. However, it suffers from the shadow effect that manifests in dynamic objects' points scattering along their trajectories. This effect results in a misalignment between feature maps and objects' locations, thus limiting performance improvement to stationary and slow-moving objects only. Scene flow allows aligning point clouds in 3D space, thus naturally resolving the misalignment in feature spaces. By observing that scene flow computation shares several components with 3D object detection pipelines, we develop a plug-in module that enables single-frame detectors to compute scene flow to rectify their Bird-Eye View representation. Experiments on the NuScenes dataset show that our module leads to a significant increase (up to 16%) in the Average Precision of large vehicles, which interestingly demonstrates the most severe shadow effect. The code is published at https://github.com/quan-dao/pc-corrector., Comment: Accepted by IEEE Intelligent Vehicles Symposium 2023 (IV 2023)

This article presents a comprehensive review of the Active Simultaneous Localization and Mapping (A-SLAM) research conducted over the past decade. It explores the formulation, applications, and methodologies employed in A-SLAM, particularly in trajectory generation and control-action selection, drawing on concepts from Information Theory (IT) and the Theory of Optimal Experimental Design (TOED). This review includes both qualitative and quantitative analyses of various approaches, deployment scenarios, configurations, path-planning methods, and utility functions within A-SLAM research. Furthermore, this article introduces a novel analysis of Active Collaborative SLAM (AC-SLAM), focusing on collaborative aspects within SLAM systems. It includes a thorough examination of collaborative parameters and approaches, supported by both qualitative and statistical assessments. This study also identifies limitations in the existing literature and suggests potential avenues for future research. This survey serves as a valuable resource for researchers seeking insights into A-SLAM methods and techniques, offering a current overview of A-SLAM formulation., Comment: 34 pages, 8 figures, 6 tables

Fission at low excitation energy is an ideal playground to probe the impact of nuclear structure on nuclear dynamics. While the importance of structural effects in the nascent fragments is well-established in the (trans-)actinide region, the observation of asymmetric fission in several neutron-deficient pre-actinides can be explained by various mechanisms. To deepen our insight into that puzzle, an innovative approach based on inverse kinematics and an enhanced version of the VAMOS++ heavy-ion spectrometer was implemented at the GANIL facility, Caen. Fission of $^{178}$Hg was induced by fusion of $^{124}$Xe and $^{54}$Fe. The two fragments were detected in coincidence using VAMOS++ supplemented with a new SEcond Detection arm. For the first time in the pre-actinide region, access to the pre-neutron mass and total kinetic energy distributions, and the simultaneous isotopic identification of one the fission fragment, was achieved. The present work describes the experimental approach, and discusses the pre-neutron observables in the context of an extended asymmetric-fission island located south-west of $^{208}Pb. A comparison with different models is performed, demonstrating the importance of this "new" asymmetric-fission island for elaborating on driving effects in fission.

In many synthesis problems, it can be essential to generate implementations which not only satisfy functional constraints but are also randomized to improve variety, robustness, or unpredictability. The recently-proposed framework of control improvisation (CI) provides techniques for the correct-by-construction synthesis of randomized systems subject to hard and soft constraints. However, prior work on CI has focused on qualitative specifications, whereas in robotic planning and other areas we often have quantitative quality metrics which can be traded against each other. For example, a designer of a patrolling security robot might want to know by how much the average patrol time needs to be increased in order to ensure that a particular aspect of the robot's route is sufficiently diverse and hence unpredictable. In this paper, we enable this type of application by generalizing the CI problem to support quantitative soft constraints which bound the expected value of a given cost function, and randomness constraints which enforce diversity of the generated traces with respect to a given label function. We establish the basic theory of labelled quantitative CI problems, and develop efficient algorithms for solving them when the specifications are encoded by finite automata. We also provide an approximate improvisation algorithm based on constraint solving for any specifications encodable as Boolean formulas. We demonstrate the utility of our problem formulation and algorithms with experiments applying them to generate diverse near-optimal plans for robotic planning problems., Comment: 35 pages, 3 figures. Full version (including appendices) of a CAV 2022 paper, to appear in the Springer Lecture Notes in Computer Science series

Event-based cameras can overpass frame-based cameras limitations for important tasks such as high-speed motion detection during self-driving cars navigation in low illumination conditions. The event cameras' high temporal resolution and high dynamic range, allow them to work in fast motion and extreme light scenarios. However, conventional computer vision methods, such as Deep Neural Networks, are not well adapted to work with event data as they are asynchronous and discrete. Moreover, the traditional 2D-encoding representation methods for event data, sacrifice the time resolution. In this paper, we first improve the 2D-encoding representation by expanding it into three dimensions to better preserve the temporal distribution of the events. We then propose 3D-FlowNet, a novel network architecture that can process the 3D input representation and output optical flow estimations according to the new encoding methods. A self-supervised training strategy is adopted to compensate the lack of labeled datasets for the event-based camera. Finally, the proposed network is trained and evaluated with the Multi-Vehicle Stereo Event Camera (MVSEC) dataset. The results show that our 3D-FlowNet outperforms state-of-the-art approaches with less training epoch (30 compared to 100 of Spike-FlowNet).

Recent advances in 3D object detection are made by developing the refinement stage for voxel-based Region Proposal Networks (RPN) to better strike the balance between accuracy and efficiency. A popular approach among state-of-the-art frameworks is to divide proposals, or Regions of Interest (ROI), into grids and extract features for each grid location before synthesizing them to form ROI features. While achieving impressive performances, such an approach involves several hand-crafted components (e.g. grid sampling, set abstraction) which requires expert knowledge to be tuned correctly. This paper proposes a data-driven approach to ROI feature computing named APRO3D-Net which consists of a voxel-based RPN and a refinement stage made of Vector Attention. Unlike the original multi-head attention, Vector Attention assigns different weights to different channels within a point feature, thus being able to capture a more sophisticated relation between pooled points and ROI. Our method achieves a competitive performance of 84.85 AP for class Car at moderate difficulty on the validation set of KITTI and 47.03 mAP (average over 10 classes) on NuScenes while having the least parameters compared to closely related methods and attaining an inference speed at 15 FPS on NVIDIA V100 GPU. The code is released at https://github.com/quan-dao/APRO3D-Net., Comment: Accepted for IV 2022

Simulation-based testing of autonomous vehicles (AVs) has become an essential complement to road testing to ensure safety. Consequently, substantial research has focused on searching for failure scenarios in simulation. However, a fundamental question remains: are AV failure scenarios identified in simulation meaningful in reality, i.e., are they reproducible on the real system? Due to the sim-to-real gap arising from discrepancies between simulated and real sensor data, a failure scenario identified in simulation can be either a spurious artifact of the synthetic sensor data or an actual failure that persists with real sensor data. An approach to validate simulated failure scenarios is to identify instances of the scenario in a corpus of real data, and check if the failure persists on the real data. To this end, we propose a formal definition of what it means for a labelled data item to match an abstract scenario, encoded as a scenario program using the SCENIC probabilistic programming language. Using this definition, we develop a querying algorithm which, given a scenario program and a labelled dataset, finds the subset of data matching the scenario. Experiments demonstrate that our algorithm is accurate and efficient on a variety of realistic traffic scenarios, and scales to a reasonable number of agents., Comment: pre-print

Behavior prediction remains one of the most challenging tasks in the autonomous vehicle (AV) software stack. Forecasting the future trajectories of nearby agents plays a critical role in ensuring road safety, as it equips AVs with the necessary information to plan safe routes of travel. However, these prediction models are data-driven and trained on data collected in real life that may not represent the full range of scenarios an AV can encounter. Hence, it is important that these prediction models are extensively tested in various test scenarios involving interactive behaviors prior to deployment. To support this need, we present a simulation-based testing platform which supports (1) intuitive scenario modeling with a probabilistic programming language called Scenic, (2) specifying a multi-objective evaluation metric with a partial priority ordering, (3) falsification of the provided metric, and (4) parallelization of simulations for scalable testing. As a part of the platform, we provide a library of 25 Scenic programs that model challenging test scenarios involving interactive traffic participant behaviors. We demonstrate the effectiveness and the scalability of our platform by testing a trained behavior prediction model and searching for failure scenarios., Comment: Accepted to the NeurIPS 2021 Workshop on Machine Learning for Autonomous Driving

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 used Scenic, a probabilistic programming language for specifying scenarios. A Scenic program defines an abstract scenario as a distribution over configurations of physical objects and their behaviors over time. Sampling from an abstract scenario yields many different concrete scenarios which can be run as test cases for the AV. Starting from a Scenic program encoding an abstract driving scenario, we can use the VerifAI toolkit to search within the scenario for failure cases with respect to multiple AV evaluation metrics. We demonstrate the effectiveness of our testing framework by identifying concrete failure scenarios for an open-source autopilot, Apollo, starting from a variety of realistic traffic scenarios., Comment: Accepted to the IEEE AITest Conference 2021

Falsification has emerged as an important tool for simulation-based verification of autonomous systems. In this paper, we present extensions to the Scenic scenario specification language and VerifAI toolkit that improve the scalability of sampling-based falsification methods by using parallelism and extend falsification to multi-objective specifications. We first present a parallelized framework that is interfaced with both the simulation and sampling capabilities of Scenic and the falsification capabilities of VerifAI, reducing the execution time bottleneck inherently present in simulation-based testing. We then present an extension of VerifAI's falsification algorithms to support multi-objective optimization during sampling, using the concept of rulebooks to specify a preference ordering over multiple metrics that can be used to guide the counterexample search process. Lastly, we evaluate the benefits of these extensions with a comprehensive set of benchmarks written in the Scenic language.

The MUGAST-AGATA-VAMOS set-up at GANIL combines the MUGAST highly-segmented silicon array with the state-of-the-art AGATA array and the large acceptance VAMOS spectrometer. The mechanical and electronics integration copes with the constraints of maximum efficiency for each device, in particular {\gamma}-ray transparency for the silicon array. This complete set-up offers a unique opportunity to perform exclusive measurements of direct reactions with the radioactive beams from the SPIRAL1 facility. The performance of the set-up is described through its commissioning and two examples of transfer reactions measured during the campaign. High accuracy spectroscopy of the nuclei of interest, including cross-sections and angular distributions, is achieved through the triple-coincidence measurement. In addition, the correction from Doppler effect of the {\gamma}-ray energies is improved by the detection of the light particles and the use of two-body kinematics and a full rejection of the background contributions is obtained through the identification of heavy residues. Moreover, the system can handle high intensity beams (up to 108 pps). The particle identification based on the measurement of the time-of-flight between MUGAST and VAMOS and the reconstruction of the trajectories is investigated., Comment: 13 pages, 18 figures

High level declarative constraints provide a powerful (and popular) way to define and construct control policies; however, most synthesis algorithms do not support specifying the degree of randomness (unpredictability) of the resulting controller. In many contexts, e.g., patrolling, testing, behavior prediction,and planning on idealized models, predictable or biased controllers are undesirable. To address these concerns, we introduce the \emph{Entropic Reactive Control Improvisation} (ERCI) framework and algorithm which supports synthesizing control policies for stochastic games that are declaratively specified by (i) a \emph{hard constraint} specifying what must occur, (ii) a \emph{soft constraint} specifying what typically occurs, and (iii) a \emph{randomization constraint} specifying the unpredictability and variety of the controller, as quantified using causal entropy. This framework, extends the state of the art by supporting arbitrary combinations of adversarial and probabilistic uncertainty in the environment. ERCI enables a flexible modeling formalism which we argue, theoretically and empirically, remains tractable., Comment: RSS 21

Multi-object tracking (MOT) is an integral part of any autonomous driving pipelines because itproduces trajectories which has been taken by other moving objects in the scene and helps predicttheir future motion. Thanks to the recent advances in 3D object detection enabled by deep learning,track-by-detection has become the dominant paradigm in 3D MOT. In this paradigm, a MOT systemis essentially made of an object detector and a data association algorithm which establishes track-to-detection correspondence. While 3D object detection has been actively researched, associationalgorithms for 3D MOT seem to settle at a bipartie matching formulated as a linear assignmentproblem (LAP) and solved by the Hungarian algorithm. In this paper, we adapt a two-stage dataassociation method which was successful in image-based tracking to the 3D setting, thus providingan alternative for data association for 3D MOT. Our method outperforms the baseline using one-stagebipartie matching for data association by achieving 0.587 AMOTA in NuScenes validation set.

Current neural networks-based object detection approaches processing LiDAR point clouds are generally trained from one kind of LiDAR sensors. However, their performances decrease when they are tested with data coming from a different LiDAR sensor than the one used for training, i.e., with a different point cloud resolution. In this paper, R-AGNO-RPN, a region proposal network built on fusion of 3D point clouds and RGB images is proposed for 3D object detection regardless of point cloud resolution. As our approach is designed to be also applied on low point cloud resolutions, the proposed method focuses on object localization instead of estimating refined boxes on reduced data. The resilience to low-resolution point cloud is obtained through image features accurately mapped to Bird's Eye View and a specific data augmentation procedure that improves the contribution of the RGB images. To show the proposed network's ability to deal with different point clouds resolutions, experiments are conducted on both data coming from the KITTI 3D Object Detection and the nuScenes datasets. In addition, to assess its performances, our method is compared to PointPillars, a well-known 3D detection network. Experimental results show that even on point cloud data reduced by $80\%$ of its original points, our method is still able to deliver relevant proposals localization.

Safely interacting with humans is a significant challenge for autonomous driving. The performance of this interaction depends on machine learning-based modules of an autopilot, such as perception, behavior prediction, and planning. These modules require training datasets with high-quality labels and a diverse range of realistic dynamic behaviors. Consequently, training such modules to handle rare scenarios is difficult because they are, by definition, rarely represented in real-world datasets. Hence, there is a practical need to augment datasets with synthetic data covering these rare scenarios. In this paper, we present a platform to model dynamic and interactive scenarios, generate the scenarios in simulation with different modalities of labeled sensor data, and collect this information for data augmentation. To our knowledge, this is the first integrated platform for these tasks specialized to the autonomous driving domain.

We propose a new probabilistic programming language for the design and analysis of cyber-physical systems, especially those based on machine learning. Specifically, we consider the problems of training a system to be robust to rare events, testing its performance under different conditions, and debugging failures. We show how a probabilistic programming language can help address these problems by specifying distributions encoding interesting types of inputs, then sampling these to generate specialized training and test data. More generally, such languages can be used to write environment models, an essential prerequisite to any formal analysis. In this paper, we focus on systems like autonomous cars and robots, whose environment at any point in time is a 'scene', a configuration of physical objects and agents. We design a domain-specific language, Scenic, for describing scenarios that are distributions over scenes and the behaviors of their agents over time. As a probabilistic programming language, Scenic allows assigning distributions to features of the scene, as well as declaratively imposing hard and soft constraints over the scene. We develop specialized techniques for sampling from the resulting distribution, taking advantage of the structure provided by Scenic's domain-specific syntax. Finally, we apply Scenic in a case study on a convolutional neural network designed to detect cars in road images, improving its performance beyond that achieved by state-of-the-art synthetic data generation methods., Comment: Supercedes arXiv:1809.09310

The fusion and transfer induced fission reaction $^{9}$Be($^{238}$U,~f) with 6.2 MeV/u beam energy, using a unique setup consisting of AGATA, VAMOS++ and EXOGAM detectors, was used to populate through the fission process and study the neutron-rich $^{119,121}$In isotopes. This setup enabled the prompt-delayed $\gamma$-ray spectroscopy of isotopes in the time range of $100~\rm{ns} - 200~\mu\rm{s}$. In the odd-$A$ $^{119,121}$In isotopes, indications of a short half-life $19/2^{-}$ isomeric state, in addition to the previously known $25/2^{+}$ isomeric state, were observed from the present data. Further, new prompt transitions above the $25/2^{+}$ isomer in $^{121}$In were identified along with reevaluation of its half-life. The experimental data were compared with the theoretical results obtained in the framework of large-scale shell-model calculations in a restricted model space. The $\langle \pi g_{9/2} \nu h_{11/2};I \arrowvert \hat{\mathcal{H}}\arrowvert \pi g_{9/2} \nu h_{11/2};I\rangle$ two-body matrix elements of residual interaction were modified to explain the excitation energies and the $B(E2)$ transition probabilities in the neutron-rich In isotopes. The (i) decreasing trend of $E(29/2^{+}) - E(25/2^{+})$ in odd-In (with dominant configuration $\pi g_{9/2}^{-1}\nu h_{11/2}^{-2}$ and maximum aligned spin of $29/2^{+}$) and (ii) increasing trend of $E(27/2^{+}) - E(23/2^{+})$ in odd-Sb (with dominant configuration $\pi g_{7/2}^{+1}\nu h_{11/2}^{-2}$ and maximum aligned spin of $27/2^{+}$) with increasing neutron number could be understood as a consequence of hole-hole and particle-hole interactions, respectively., Comment: Accepted for publication in Phys. Rev. C

We demonstrate a unified approach to rigorous design of safety-critical autonomous systems using the VerifAI toolkit for formal analysis of AI-based systems. VerifAI provides an integrated toolchain for tasks spanning the design process, including modeling, falsification, debugging, and ML component retraining. We evaluate all of these applications in an industrial case study on an experimental autonomous aircraft taxiing system developed by Boeing, which uses a neural network to track the centerline of a runway. We define runway scenarios using the Scenic probabilistic programming language, and use them to drive tests in the X-Plane flight simulator. We first perform falsification, automatically finding environment conditions causing the system to violate its specification by deviating significantly from the centerline (or even leaving the runway entirely). Next, we use counterexample analysis to identify distinct failure cases, and confirm their root causes with specialized testing. Finally, we use the results of falsification and debugging to retrain the network, eliminating several failure cases and improving the overall performance of the closed-loop system., Comment: Full version of a CAV 2020 paper

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 properties, algorithmic test case generation using formal simulation, test case selection for track testing, executing test cases on the track, and analyzing the resulting data. Experiments with a real autonomous vehicle at an industrial testing facility support our hypotheses that (i) formal simulation can be effective at identifying test cases to run on the track, and (ii) the gap between simulated and real worlds can be systematically evaluated and bridged., Comment: 9 pages, 6 figures. Full version of an ITSC 2020 paper

One of the hardest challenges to face in the development of a non GPS-based localization system for autonomous vehicles is the changes of the environment. LiDAR-based systems typically try to match the last measurements obtained with a previously recorded map of the area. If the existing map is not updated along time, there is a good chance that the measures will not match the environment well enough, causing the vehicle to lose track of its location. In this paper, we present and analyze experimental results regarding the robustness and precision of a map-matching based localization system over a certain period of time in the following three cases: (1) without any update of the initial map, (2) updating the map as the vehicle moves and (3) with map updates that take into account surrounding structures labeled as "fixed" which are treated differently. The environment of the tests is a busy parking area, which ensures drastic changes from one day to the next. The precision is obtained by comparing the positions computed using the map with the ones provided by a Real-Time Kinematic GPS system. The experimental results reveal a positioning error of about 6cm which remains stable even after 23 days when using fixed structures on the working area.

Obtaining a realistic and accurate model of the longitudinal dynamics is key for a good speed control of a self-driving car. It is also useful to simulate the longitudinal behavior of the vehicle with high fidelity. In this paper, a straightforward and generic method for obtaining the friction, braking and propulsion forces as a function of speed, throttle input and brake input is proposed. Experimental data is recorded during tests over the full speed range to estimate the forces, to which the corresponding curves are adjusted. A simple and direct balance of forces in the direction tangent to the ground is used to obtain an estimation of the real forces involved. Then a model composed of approximate spline curves that fit the results is proposed. Using splines to model the dynamic response has the advantage of being quick and accurate, avoiding the complexity of parameter identification and tuning of non-linear responses embedding the internal functionalities of the car, like ABS or regenerative brake. This methodology has been applied to LS2N's electric Renault Zoe but can be applied to any other electric car. As shown in the experimental section, a comparison between the estimated acceleration of the car using the model and the real one over a wide range of speeds along a trip of about $10km/h$ reveals only $0.35m/s^2$ of error standard deviation in a range of $\pm{2}m/s^2$ which is very encouraging.

The neutron-rich $^{122-131}$Sb isotopes were produced as fission fragments in the reaction $^{9}$Be($^{238}$U,~f) with 6.2 MeV/u beam energy. An unique setup, consisting of AGATA, VAMOS++ and EXOGAM detectors, was used which enabled the prompt-delayed gamma-ray ($\gamma$) spectroscopy of fission fragments in the time range of 100 ns - 200 $\mu$s. New isomers, prompt and delayed transitions were established in the even-A $^{122-130}$Sb isotopes. In the odd-A $^{123-131}$Sb isotopes, new prompt and delayed $\gamma$-ray transitions were identified, in addition to the confirmation of the previously known isomers. The half-lives of the isomeric states and the $B(E2)$ transition probabilities of the observed transitions depopulating these isomers were extracted. The experimental data was compared with the theoretical results obtained in the framework of Large-Scale Shell-Model (LSSM) calculations in a restricted model space. Modifications of several components of the shell model interaction were introduced to obtain a consistent agreement with the excitation energies and the $B(E2)$ transition probabilities in neutron-rich Sn and Sb isotopes. The isomeric configurations in Sn and Sb were found to be relatively pure. Further, the calculations revealed that the presence of a single valence proton, mainly in the $g_{7/2}$ orbital in Sb isotopes, leads to significant mixing (due to the $\nu\pi$ interaction) of: (i) the neutron seniorities ($\upsilon_{\nu}$) and (ii) the neutron angular momentum ($I_{\nu}$). The above features have a weak impact on the excitation energies, but have an important impact on the $B(E2)$ transition probabilities. In addition, a constancy of the relative excitation energies irrespective of neutron seniority and neutron number in Sn and Sb was observed., Comment: 23 pages, 18 figures, 10 tables

We present VERIFAI, a software toolkit for the formal design and analysis of systems that include artificial intelligence (AI) and machine learning (ML) components. VERIFAI particularly seeks to address challenges with applying formal methods to perception and ML components, including those based on neural networks, and to model and analyze system behavior in the presence of environment uncertainty. We describe the initial version of VERIFAI which centers on simulation guided by formal models and specifications. Several use cases are illustrated with examples, including temporal-logic falsification, model-based systematic fuzz testing, parameter synthesis, counterexample analysis, and data set augmentation.

We propose a new probabilistic programming language for the design and analysis of perception systems, especially those based on machine learning. Specifically, we consider the problems of training a perception system to handle rare events, testing its performance under different conditions, and debugging failures. We show how a probabilistic programming language can help address these problems by specifying distributions encoding interesting types of inputs and sampling these to generate specialized training and test sets. More generally, such languages can be used for cyber-physical systems and robotics to write environment models, an essential prerequisite to any formal analysis. In this paper, we focus on systems like autonomous cars and robots, whose environment is a "scene", a configuration of physical objects and agents. We design a domain-specific language, Scenic, for describing "scenarios" that are distributions over scenes. As a probabilistic programming language, Scenic allows assigning distributions to features of the scene, as well as declaratively imposing hard and soft constraints over the scene. We develop specialized techniques for sampling from the resulting distribution, taking advantage of the structure provided by Scenic's domain-specific syntax. Finally, we apply Scenic in a case study on a convolutional neural network designed to detect cars in road images, improving its performance beyond that achieved by state-of-the-art synthetic data generation methods., Comment: 41 pages, 36 figures. Full version of a PLDI 2019 paper (extending UC Berkeley EECS Department Tech Report No. UCB/EECS-2018-8)

Reactive synthesis is a paradigm for automatically building correct-by-construction systems that interact with an unknown or adversarial environment. We study how to do reactive synthesis when part of the specification of the system is that its behavior should be random. Randomness can be useful, for example, in a network protocol fuzz tester whose output should be varied, or a planner for a surveillance robot whose route should be unpredictable. However, existing reactive synthesis techniques do not provide a way to ensure random behavior while maintaining functional correctness. Towards this end, we generalize the recently-proposed framework of control improvisation (CI) to add reactivity. The resulting framework of reactive control improvisation provides a natural way to integrate a randomness requirement with the usual functional specifications of reactive synthesis over a finite window. We theoretically characterize when such problems are realizable, and give a general method for solving them. For specifications given by reachability or safety games or by deterministic finite automata, our method yields a polynomial-time synthesis algorithm. For various other types of specifications including temporal logic formulas, we obtain a polynomial-space algorithm and prove matching PSPACE-hardness results. We show that all of these randomized variants of reactive synthesis are no harder in a complexity-theoretic sense than their non-randomized counterparts., Comment: 25 pages. Full version of a CAV 2018 paper

In condensed matter physics, simplified descriptions are obtained by coarse-graining the features of a system at a certain characteristic length, defined as the typical length beyond which some properties are no longer correlated. From a physics standpoint, in vitro DNA has thus a characteristic length of 300 base pairs (bp), the Kuhn length of the molecule beyond which correlations in its orientations are typically lost. From a biology standpoint, in vivo DNA has a characteristic length of 1000 bp, the typical length of genes. Since bacteria live in very different physico-chemical conditions and since their genomes lack translational invariance, whether larger, universal characteristic lengths exist is a non-trivial question. Here, we examine this problem by leveraging the large number of fully sequenced genomes available in public databases. By analyzing GC content correlations and the evolutionary conservation of gene contexts (synteny) in hundreds of bacterial chromosomes, we conclude that a fundamental characteristic length around 10-20 kb can be defined. This characteristic length reflects elementary structures involved in the coordination of gene expression, which are present all along the genome of nearly all bacteria. Technically, reaching this conclusion required us to implement methods that are insensitive to the presence of large idiosyncratic genomic features, which may co-exist along these fundamental universal structures.