Thesis: Supervisory control for autonomous drive
An autonomous vehicle should be capable of planning and executing a sequence of traffic maneuvers in order to achieve some high level driving goal. Each maneuver in this sequence could potentially be implemented as a unique control algorithm, each with its own specification. It is of interest to analyze the functionality of such a planner using formal methods, which would requires a formal model of the surrounding traffic, as well as the planner and its components.
The thesis involves modeling the surrounding traffic situation in a highway scenario using purely discrete or possibly hybrid modeling tools, and also investigating methods for verifying the validity of the model. Next, by modeling traffic maneuvers as constraints on the ego vehicle, verify the safety of the planner and possibly even synthesize a supervisor which guarantees safety by limiting the allowed traffic maneuvers.
You are one or two students who possess excellent problem solving skills and enjoy a challenge. Should be comfortable doing rapid prototyping and debugging in the programming language of your choice. Experience with discrete event systems is meritorious (although not strictly necessary), and knowledge of algorithms, linear systems, hybrid systems and visualization will be helpful.
Candidates from computer science with a strong programming and algorithm background as well as those with a more mathematical and/or control theoretic profile are of interest. The outcome has potential to be published in a scientific journal or conference (depending on quality and ambitions).
Description of thesis work
Thesis Level: Master
Starting date: January 2020
Number of students: 1-2
Volvo GTT: Oskar Wigström, 0709-454915
Chalmers: Martin Fabian
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