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Runtime Verification of Autonomous Driving Systems in CARLA

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Runtime Verification (RV 2020)

Part of the book series: Lecture Notes in Computer Science ((LNPSE,volume 12399))

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Abstract

Urban driving simulators, such as CARLA, provide 3-D environments and useful tools to easily simulate sensorimotor control systems in scenarios with complex multi-agent dynamics. This enables the design exploration at the early system development stages, reducing high infrastructure costs and high risks. However, due to the high-dimensional input and state spaces of closed-loop autonomous driving systems, their testing and verification is very challenging and it has not yet taken advantage of the recent developments in theory and tools for runtime verification. We show here how to integrate the recently introduced \(\texttt {rtamt}\) library, for runtime verification of STL (Signal Temporal Logic) specifications, with the CARLA simulator. Finally, we also present the obtained results from monitoring quantitatively interesting requirements for an experimental Adaptive Cruise Control system tested in CARLA.

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Notes

  1. 1.

    The CARLA client scripts for our ACC system with the integrated \(\texttt {rtamt}\) monitors can be accessed online at http://depend.csd.auth.gr/software/carla.

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Authors and Affiliations

  1. Aristotle University of Thessaloniki, 54124, Thessaloniki, Greece

    Eleni Zapridou & Panagiotis Katsaros

  2. Vienna University of Technology (TU Wien), Vienna, Austria

    Ezio Bartocci

Authors
  1. Eleni Zapridou
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  2. Ezio Bartocci
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  3. Panagiotis Katsaros
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Correspondence to Panagiotis Katsaros .

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Editors and Affiliations

  1. University of Southern California, Los Angeles, CA, USA

    Jyotirmoy Deshmukh

  2. AIT Austrian Institute of Technology GmbH, Vienna, Austria

    Dejan Ničković

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Zapridou, E., Bartocci, E., Katsaros, P. (2020). Runtime Verification of Autonomous Driving Systems in CARLA. In: Deshmukh, J., Ničković, D. (eds) Runtime Verification. RV 2020. Lecture Notes in Computer Science(), vol 12399. Springer, Cham. https://doi.org/10.1007/978-3-030-60508-7_9

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  • DOI: https://doi.org/10.1007/978-3-030-60508-7_9

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  • Online ISBN: 978-3-030-60508-7

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