Assured Run-time Monitoring and Planning: Towards Verification of Neural Networks for Safe Autonomous Operations

Autonomous systems operating in uncertain environments under the effects of disturbances and noises can reach unsafe states even while using finetuned controllers and precise sensors and actuators. To provide safety guarantees on such systems during motion planning operations, reachability analysis (RA) has been demonstrated to be a powerful tool. RA, however, suffers from computational complexity...