Incorporation of more sophisticated human factors (HF) in mathematical models for driving behavior has become an increasingly popular and important research direction in the last few years. Such models enable us to simulate under which conditions perception errors and risk-taking lead to interactions that result in unsafe traffic conditions and ultimately accidents. In this paper, we present a generic multi-level microscopic traffic modelling and simulation framework that supports this important line of research. In this framework, the driving task is modeled in a multi-layered fashion. At the highest level, we have idealized (collision-free) models for car following and other driving tasks. These models typically contain HF parameters that exogenously “govern the human factor”, such as reaction time, sensitivities to stimuli, desired speed, etc. At the lowest level, we define HF variables (task demand and capacity, awareness) with which we maintain what the information processing costs are of performing driving tasks as well as non-driving related tasks such as distractions. We model these costs using so-called fundamental diagrams of task demand. In between, we define functions that govern the dynamics of the high-level HF parameters with these HF variables as inputs. When total task demand increases beyond task capacity, first awareness may deteriorate, where we use Endsley's three-level awareness construct to differentiate between effects on perception, comprehension, anticipation and reaction time. Secondly, drivers may adapt their response in line with Fullers risk allostasis theory to reduce risk to acceptable levels. This framework can be viewed as a meta model, that provides the analyst possibilities to combine and mix a wide variety of microscopic models for driving behavior at different levels of sophistication, depending on which HF are studied, and which phenomena need to be reproduced. We illustrate the framework with a distraction (rubbernecking) case. Our results show that the framework results in endogenous mechanisms for inter- and intra-driver differences in driving behavior and can generate multiple plausible HF mechanisms to explain the same observable traffic phenomena and congestion patterns that arise due to the distraction. We believe our framework can serve as a valuable tool in testing hypotheses related to the effects of HF on traffic efficiency and traffic safety in a systematic way for both the traffic flow and HF community.

System design is an inherently expensive and time consuming process. Engineers are constantly tasked to investigate new solutions for various programs. Model-based systems engineering (MBSE) is an up and coming successful method used to reduce the time spent during the design process. By utilizing simulations, model-based systems engineering can verify high-level system requirements quickly and at low cost early in the design process. The Horizon Simulation Framework, or HSF, provides the capability of simulating a system and verifying the system performance. This paper outlines an improvement to the Horizon Simulation Framework by providing information to the user regarding schedule failures due to subsystem failures and constraint violations. Using the C# language, constraint violation rates and subsystem failure rates are organized by magnitude and written to .csv files. Also, proper subsystem failure and constraint violation checking orders were stored for HSF to use as new evaluation sequences. The functionalities of the systemEval framework were verified by five test cases. The output information can be used for the user to improve their system and possibly reduce the total run-time of the Horizon Simulation Framework.

Decision-making by one or more individuals to select a course of action is predicated on the values and preferences to identify, choose options, and finally select the option that is evaluated to be the “best option.” Decision theory provides the means to model and analyze both the processes and options available to the decision-makers. This dissertation assembled in three phases: 1) An effort to collect and review existing literature relating to the concept of expanding decision analysis options to provide a model of decision-making made with time-dependent factors along with uncertainty and risk. Further, adding the concept of a decision to update time-dependent decision data in a Bayesian fashion aids in modeling decision-making thought processes. This review included a total of 395 research artifacts. 2) Development of a technical approach using the information gathered in the literature review to guide planning for a decision-making simulation of individuals and organizations. The approach emphasizes creating a decision-making simulation framework with capabilities to model time-dependent factors, information processing and communication, and fuzzy-stochastic data. 3) Use of the technical approach to develop a simulation framework to simulate complex decision-making and work packages at multiple levels in an organization using time-dependent factors, information processing and communication, and fuzzy-stochastic data. Using a Discrete Event Simulation (DES) and Agent-Based Models (ABM) to simulate people and their interactions, this framework was then be used to simulate decision-making and work processes within an organization. Ultimately, the Agile Enterprise Simulation (AES) capability was created and demonstrated.

Ces dernières années ont consacré l’émergence du parallélisme dans la plupart des branches de l’informatique.Au niveau matériel, tout d’abord, du fait de la stagnation des fréquences de fonctionnement des unités decalcul. Au niveau logiciel, ensuite, avec la popularisation de nombreuses plates-formes d’exécution parallèle.Une forme de parallélisme est également présente dans les systèmes multi-agents, qui facilitent la description desystèmes complexes comme ensemble d’entités en interaction. Si l’adéquation entre ce parallélisme d’exécutionlogiciel et conceptuel semble naturelle, la parallélisation reste une démarche difficile, du fait des nombreusesadaptations devant être effectuées et des dépendances présentes explicitement dans de très nombreux systèmesmulti-agents.Dans cette thèse, nous proposons une solution pour faciliter l’implémentation de ces modèles sur une plateformed’exécution parallèle telle que le GPU. Notre bibliothèque MCMAS vient répondre à cette problématiqueau moyen de deux interfaces de programmation, une couche de bas niveau MCM permettant l’accès direct àOpenCL et un ensemble de plugins utilisables sans connaissances GPU. Nous étudions ensuite l’utilisation decette bibliothèque sur trois systèmes multi-agents existants : le modèle proie-prédateur, le modèle MIOR etle modèle Collemboles. Pour montrer l’intérêt de cette approche, nous présentons une étude de performancede chacun de ces modèles et une analyse des facteurs contribuant à une exécution efficace sur GPU. Nousdressons enfin un bilan du travail et des réflexions présentées dans notre mémoire, avant d’évoquer quelquespistes d’amélioration possibles de notre solution. / These last years have seen the emergence of parallelism in many fields of computer science. This is explainedby the stagnation of the frequency of execution units at the hardware level and by the increasing usage ofparallel platforms at the software level. A form of parallelism is present in multi-agent systems, that facilitatethe description of complex systems as a collection of interacting entities. If the similarity between this softwareand this logical parallelism seems obvious, the parallelization process remains difficult in this case because ofthe numerous dependencies encountered in many multi-agent systems.In this thesis, we propose a common solution to facilitate the adaptation of these models on a parallel platformsuch as GPUs. Our library, MCMAS, provides access to two programming interface to facilitate this adaptation:a low-level layer providing direct access to OpenCL, MCM, and a high-level set of plugins not requiring anyGPU-related knowledge.We study the usage of this library on three existing multi-agent models : predator-prey,MIOR and Collembola. To prove the interest of the approach we present a performance study for each modeland an analysis of the various factors contributing to an efficient execution on GPUs. We finally conclude on aoverview of the work and results presented in the report and suggest future directions to enhance our solution.

Esta dissertação apresenta uma proposta de um simulador de modelos de larga escala para o Ambiente de Simulação Distribuída Automático (ASDA), uma ferramenta que facilita a utilização e o desenvolvimento de simulação distribuída e que vem sendo objeto de pesquisas e estudos no Laboratório de Sistemas Distribuídos e Programação Concorrente (LaSDPC) do ICMC-USP. Tal simulador permite ao ASDA a construção de modelos e programas que simulam modelos de redes de filas de larga escala, operações estas que tornam a ferramenta ainda mais completa. O simulador é baseado no padrão público para simulação distribuída de larga escala denominado Scalable Simulation Framework (SSF). O protótipo do simulador desenvolvido é constituído de um programa cliente-servidor, mas podem ser observados três componentes principais: um compilador, que traduz os modelos escritos em linguagem de modelagem para linguagem C++; o módulo SSF que define a API utilizada pelos programas de simulação; e um módulo de execução, que executa os programas de simulação, analisa os resultados e os repassa para um gerador de relatórios. O simulador contribui ainda com mais estudos acerca de simulação, simulação distribuída e modelagem de sistemas utilizando as ferramentas desenvolvidas pelo grupo / This dissertation presents a proposal for a large-scale model simulator, that is integrated into the Automatic Distributed Simulation Environment (ASDA), a tool that supports the development of distributed simulation, and that has been under studies and investigations in the Laboratory of Distributed Systems and Concurrent Programming at ICMC-USP. The proposed simulator allows ASDA to support the development of models and programs that simulates large-scale queuing models, making ASDA more complete and efficient. The simulator is based on a public standard for large-scale distributed simulation named Scalable Simulation Framework (SSF). The simulator prototype that was developed is a client-server program in which we can observe three main components: one compiler, that translates the models written in a modeling language to a simulation program, written in C++ programming language; the SSF library, that defines the API that is used by the simulation programs; and a runtime environment, which runs the simulation programs, analyzes the results and sends the information to a report builder. The simulator prototype also aggregates to the simulation community more studies regarding simulation, distributed simulation, systems modelling using the internal tools developed by our group

Esta dissertação apresenta uma proposta de um simulador de modelos de larga escala para o Ambiente de Simulação Distribuída Automático (ASDA), uma ferramenta que facilita a utilização e o desenvolvimento de simulação distribuída e que vem sendo objeto de pesquisas e estudos no Laboratório de Sistemas Distribuídos e Programação Concorrente (LaSDPC) do ICMC-USP. Tal simulador permite ao ASDA a construção de modelos e programas que simulam modelos de redes de filas de larga escala, operações estas que tornam a ferramenta ainda mais completa. O simulador é baseado no padrão público para simulação distribuída de larga escala denominado Scalable Simulation Framework (SSF). O protótipo do simulador desenvolvido é constituído de um programa cliente-servidor, mas podem ser observados três componentes principais: um compilador, que traduz os modelos escritos em linguagem de modelagem para linguagem C++; o módulo SSF que define a API utilizada pelos programas de simulação; e um módulo de execução, que executa os programas de simulação, analisa os resultados e os repassa para um gerador de relatórios. O simulador contribui ainda com mais estudos acerca de simulação, simulação distribuída e modelagem de sistemas utilizando as ferramentas desenvolvidas pelo grupo / This dissertation presents a proposal for a large-scale model simulator, that is integrated into the Automatic Distributed Simulation Environment (ASDA), a tool that supports the development of distributed simulation, and that has been under studies and investigations in the Laboratory of Distributed Systems and Concurrent Programming at ICMC-USP. The proposed simulator allows ASDA to support the development of models and programs that simulates large-scale queuing models, making ASDA more complete and efficient. The simulator is based on a public standard for large-scale distributed simulation named Scalable Simulation Framework (SSF). The simulator prototype that was developed is a client-server program in which we can observe three main components: one compiler, that translates the models written in a modeling language to a simulation program, written in C++ programming language; the SSF library, that defines the API that is used by the simulation programs; and a runtime environment, which runs the simulation programs, analyzes the results and sends the information to a report builder. The simulator prototype also aggregates to the simulation community more studies regarding simulation, distributed simulation, systems modelling using the internal tools developed by our group

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Submitted by Lucienne Costa (lucienneferreira@ufcg.edu.br) on 2018-05-03T18:38:37Z No. of bitstreams: 1 WILLY CARVALHO TIENGO – TESE (PPGCC) 2018.pdf: 4153575 bytes, checksum: 929b905dca8b61fcb0f831264752540f (MD5) / Made available in DSpace on 2018-05-03T18:38:37Z (GMT). No. of bitstreams: 1 WILLY CARVALHO TIENGO – TESE (PPGCC) 2018.pdf: 4153575 bytes, checksum: 929b905dca8b61fcb0f831264752540f (MD5) Previous issue date: 2018 / No Brasil, o transporte rodoviário é responsável por 58% do transporte de carga, que tem os acidentes como um grande problema, pois, em geral, esses ocasionam muitas vítimas, prejuízos econômicos relevantes e em alguns casos danos ambientais decorrentes de derramamento de carga. Estudos apontam que os prejuízos com os acidentes no transporte de carga em 2012 foram de mais de 9 bilhões de reais. Estudo realizado em 2007 pela PAMCARY, corretora de seguros e gestora de riscos, revelou que os eventos que combinam maior frequência e gravidade são tombamento e capotagem. Nesse sentido, esta pesquisa consiste na elaboração de um assistente avançado para motorista que objetiva alertar previamente sobre a velocidade limite da curva, a fim de diminuir os riscos de tombamento. Em outras palavras, consiste em buscar mitigar o problema auxiliando o motorista para que ele mantenha o veículo em uma velocidade segura, por meio de alertas e em prazo adequado, que permitam ao motorista tomar medidas corretivas em caso de estado inseguro. A solução foi desenvolvida a partir de uma arquitetura modular, que funciona da seguinte forma: por meio de sensores (velocidade, GPS e posição do acelerador), associado a mapas digitais, o risco de acidente é controlado constantemente. Com isso, um dispositivo poderia ser embarcado na cabine do veículo para emitir alertas visual e auditivo de risco de tombamento. A solução utiliza o indicador de estabilidade chamado Limiar Estático de Tombamento que, associado à informação a priori de mapas digitais, permite o cálculo do risco de tombamento com diferentes abordagens. No contexto da pesquisa, foram desenvolvidas 04 versões de assistentes. Além disso, foi proposto um arcabouço de simulação microscópica de trânsito baseado no modelo de raciocínio prático denominado de belief-desire-intention (BDI) para permitir o desenvolvimento e a validação de agentes inteligentes para Sistemas Avançados de Assistência ao Motorista de maneira rápida, flexível e fácil. Para avaliar o potencial dos assistentes, foi escolhida a BR-101, estrada federal de Alagoas com mais ocorrências de tombamento. Nessa rodovia, foram simulados 400 veículos para avaliar o desempenho dos assistentes propostos. Em particular, foram investigadas a efetividade, intrusividade, omissão e a segurança para avaliar o desempenho dos assistentes. / In Brazil, highway transportation is responsible for 58% of cargo transport. A relevant problem associated to cargo transport are the accidents, that generally cause an elevated number of victims, relevant economic losses and, in some cases, damages to the environment due to cargo spills, since there are also dangerous products being transported. Researches point out that the cost of accidents in cargo transportation in 2012 was more than BRL 9 billion. A study performed in 2007 by PAMCARY revealed the accidents profile: the events that combine higher frequency and gravity are rollover and tipping (considered here as the same nature). In this study, incompatible speed and fatigue, factors that are related to human actions, were pointed out as main causes of accidents; for another hand, sharp curve and poorly maintained roads are contributing factors to accidents. Therefore, the research proposal consists of the adoption of an assistant for warning in advance of over speed for a specific curve. This may reduce rollover risks. In other words, it would be mitigated the problem by helping the driver to maintain the vehicle in a safe speed, through customized alerts just in time to allow the driver to take corrective maneuvers in case of unsafe state. The solution is a modular architecture, which works as follows: through sensors (speed, GPS and throttle position) associated with digital maps, it is controlled the risk of accident constantly. With that, an embedded device at the vehicle’s cab could to emit visual and sound alerts warning the risk of rollover. In this work, it is proposed the adoption of the stability indicator known as Static Rollover Threshold, which is combined with a priori information from digital maps to allow the calculation of the rollover risk by different approaches. In the context of this research, 04 versions of assistants were developed. In addition, a microscopic traffic simulation framework was proposed based on the practical reasoning model named belief-desire-intention (BDI) to support the development and validation of intelligent agents for Advanced Driver Assistance Systems in a fast, flexible and easy way. To evaluate the assistants’ potential, the BR-101, Federal Highway of Alagoas with more occurrence of rollover, was chosen. On this highway, 400 vehicles were simulated to evaluate the performance of the proposed assistants. The effectiveness, intrusiveness, omission and safety of the assistants were investigated.

Automated vehicles are assumed to play an important role in the future of mobility, but their operation must be provably safe. They consist of automated driving systems (ADSs) that perform various automated driving tasks without the active participation of a human driver. These automated driving tasks can be mainly categorized as perception, decision-making, and motion control. These tasks must be accomplished by the components of an ADS, which must be seamlessly integrated to ensure safety. The complexity of the ADS architecture makes the safety assessment rather challenging. This complexity is further exacerbated when automated vehicles need to interact in different traffic situations. Design, verification, and testing of ADSs as simulation models provide a safer and cost-efficient early development opportunity compared to real-world testing. To this end, a capable simulation framework that incorporates the simulation models of ADSs must be developed for designing, implementing, and testing these models in a traffic simulation. The main contributions of this thesis are denoted as (i), (ii), and (iii). Safety assessment of ADS can be done either experimentally by (i) simulation-based testing in (ii) a simulation framework or theoretically (iii) using formal methods. Simulation-based testing requires two components: (i) efficient testing strategies for different ADS components and (ii) a simulation framework containing the models of ADS components for applying these testing strategies. Simulation-based testing alone cannot prove or guarantee safety. In order to complement the safety assessment process, whenever applicable, (iii) formal methods must be utilized to derive theoretical safety proofs for certain types of systems for a set of assumptions. Formal methods for synthesis include methods such as correct-by-construction of control protocols and reachability analysis for dynamic systems, which can be used to design provably safe decision-making and control algorithms. The correct-by-construction synthesis of discrete control protocols can be used as safety filters for decision-making algorithms, such as autonomous intersection management algorithms, to verify the safety of taken actions. The reachability analysis is useful for predicting trajectories for possible maneuvers in a finite time horizon for an automated vehicle on a highway. By over-approximating these ego vehicle trajectories, safety verification of possible maneuvers can be done by comparing them to the possible trajectories of other vehicles. A game-theoretical decision-making approach, such as minimax, can augment safety in maneuver planning by considering the worst-case situations up to a finite time horizon. Such an online maneuver planning algorithm reconsiders the maneuvers at each planning cycle in a receding horizon fashion. However, to apply formal methods, certain assumptions must be made about complex parts of ADSs, and therefore, simulation-based testing is still needed to check the validity of these assumptions in simulation models. Safety assessment with a holistic approach is presented that combines the previously mentioned contributions of this thesis (i), (ii), and (iii) into a workflow of modeling, design/synthesis, and testing. Such an approach is essential for developing safe algorithms for ADSs in a simulation framework.:Kurzfassung v Abstract vii Contents ix 1 Introduction 1 1.1 Motivation . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1 1.2 Scope of the Thesis . . . . . . . . . . . . . . . . . . . . . . . 1 1.3 Research Questions . . . . . . . . . . . . . . . . . . . . . . . 2 1.4 Structure of the Thesis . . . . . . . . . . . . . . . . . . . . . 3 2 Safety Assessment of Automated Driving Systems - State of the Art 5 2.1 State of the Art . . . . . . . . . . . . . . . . . . . . . . . . . 5 2.1.1 Definition of ADS . . . . . . . . . . . . . . . . . . . . 5 2.1.2 Meaning of Safety for ADS . . . . . . . . . . . . . . . 8 2.1.3 Testing for Safety . . . . . . . . . . . . . . . . . . . . 12 2.1.4 Simulation Frameworks for ADSs and AVs . . . . . . 14 2.1.5 Roles of Formal Methods . . . . . . . . . . . . . . . . 16 2.2 Challenges and Contributions . . . . . . . . . . . . . . . . . 18 2.2.1 Challenges in the State-of-the-Art . . . . . . . . . . . 18 2.2.2 The Contributions . . . . . . . . . . . . . . . . . . . 21 3 Simulation-based Testing using Fault Injection 23 3.1 Related Work and Preliminaries . . . . . . . . . . . . . . . . 24 3.1.1 Fault Injection . . . . . . . . . . . . . . . . . . . . . 24 3.1.2 Fault Types and Parameters . . . . . . . . . . . . . . 27 3.1.3 Testing for ADS safety using FI . . . . . . . . . . . . 30 3.1.4 Metrics and Specifications for Safety Evaluation . . . 33 3.1.5 Simulative Error Propagation Analysis . . . . . . . . 35 3.2 Developing a Testing Strategy using Fault Injection . . . . . 36 3.2.1 Automated Testing . . . . . . . . . . . . . . . . . . . 37 3.2.2 Using Domain-specific Knowledge . . . . . . . . . . . 40 3.2.3 Smart Testing Strategy . . . . . . . . . . . . . . . . . 41 3.3 Application of Testing Strategies . . . . . . . . . . . . . . . 42 3.3.1 Testing of ACC Systems for Fault Tolerance using Fault Injection . . . . . . . . . . . . . . . . . . . . . . . . . 43 3.3.2 Discovering Fault Parameter Space using Smart Testing Strategy . . . . . . . . . . . . . . . . . . . . . . . 48 3.4 General Functionalities for Efficient Tools . . . . . . . . . . . 52 3.5 Conclusion . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53 4 A Framework for Simulating Automated Driving Systems in Traffic 55 4.1 Related Work . . . . . . . . . . . . . . . . . . . . . . . . . . 56 4.1.1 Levels of Detail in Traffic Simulation . . . . . . . . . 56 4.1.2 Traffic Simulations and Scenario-based Testing . . . . 59 4.1.3 Generic ADS Architecture . . . . . . . . . . . . . . . 64 4.2 Preliminaries and Definitions . . . . . . . . . . . . . . . . . . 65 4.2.1 Map and Path Planning . . . . . . . . . . . . . . . . 66 4.2.2 Decision Making and Trajectories . . . . . . . . . . . 67 4.2.3 Vehicle Motion Control . . . . . . . . . . . . . . . . . 68 4.3 Mapping the ADS structure into a Simulation Model . . . . 72 4.3.1 Sensor-based Perception . . . . . . . . . . . . . . . . 72 4.3.2 V2X Communication . . . . . . . . . . . . . . . . . . 73 4.3.3 Global Path Planner . . . . . . . . . . . . . . . . . . 75 4.3.4 Behavioral Planner/Maneuver Planner . . . . . . . . 78 4.3.5 Longitudinal and Lateral Motion Control . . . . . . . 80 4.4 Interfaces and Layering between Modules . . . . . . . . . . . 81 4.4.1 Relations between Discrete Decision-Making and Continuous Control . . . . . . . . . . . . . . . . . . . . . 82 4.4.2 Vehicles and the Infrastructure - Autonomous Intersection Management . . . . . . . . . . . . . . . . . . . . 83 4.5 Instantiating a Model-based Traffic Simulation . . . . . . . . 86 4.5.1 Traffic Simulation Environment Architecture . . . . . 88 4.5.2 Road Network and the Map Format . . . . . . . . . . 91 4.5.3 Scenario-based Traffic Simulation as Test Cases . . . 95 4.5.4 Overview of the Simulation Framework with Fault Injection . . . . . . . . . . . . . . . . . . . . . . . . . . 97 4.6 Case Studies . . . . . . . . . . . . . . . . . . . . . . . . . . . 101 4.6.1 Urban Traffic Simulations . . . . . . . . . . . . . . . 101 4.6.2 Fault-Error-Failure Chain Analysis for Safety Assessment . . . . . . . . . . . . . . . . . . . . . . . . . . . 103 4.7 Conclusion . . . . . . . . . . . . . . . . . . . . . . . . . . . . 108 5 Using Formal Methods for Safe Algorithms Design 111 5.1 Control Protocol Synthesis . . . . . . . . . . . . . . . . . . . 111 5.1.1 Related Work and Preliminaries . . . . . . . . . . . . 111 5.1.1.1 Finite State Transition Systems . . . . . . . 112 5.1.1.2 Linear Temporal Logic and Büchi Automaton 113 5.1.1.3 Correct-by-Construction Control Protocol Synthesis . . . . . . . . . . . . . . . . . . . 114 5.1.2 Application in an Autonomous Intersection Management Algorithm . . . . . . . . . . . . . . . . . . . . . 116 5.1.2.1 Modeling the Intersection and the Behaviors of the Vehicles . . . . . . . . . . . . . . . . 116 5.1.2.2 Specifications for Synthesis . . . . . . . . . 120 5.1.2.3 Algorithm for Safe Decision-Making for AIM 122 5.2 Game-Theoretical Decision-Making and Trajectory Verification . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 125 5.2.1 Related Work and Preliminaries . . . . . . . . . . . . 125 5.2.1.1 Game-Theoretical Minimax Decision-Making 126 5.2.1.2 Reachability Analysis for Trajectory Generation . . . . . . . . . . . . . . . . . . . . . . 127 5.2.1.3 Motion in Frenet Coordinates . . . . . . . . 130 5.2.1.4 Modeling of AVs and Maneuvers . . . . . . 132 5.2.2 Application in a Safe Maneuver Planning Algorithm . 137 5.2.2.1 Fixed Abstraction and the Over- Approximation of Trajectories . . . . . . . . 138 5.2.2.2 Safety Quantification of Maneuvers . . . . . 140 5.2.2.3 Minimax Decision-Making for Safe Maneuver Planning . . . . . . . . . . . . . . . . . . . 143 5.3 Conclusion . . . . . . . . . . . . . . . . . . . . . . . . . . . . 148 6 Safety Assessment with a Holistic Approach 151 6.1 Overview and the Application of the Approach . . . . . . . . 152 6.2 Case Studies . . . . . . . . . . . . . . . . . . . . . . . . . . . 154 6.2.1 Case Study 1: Safety of an Autonomous Intersection Management Algorithm . . . . . . . . . . . . . . . . 155 6.2.1.1 Modeling . . . . . . . . . . . . . . . . . . . 155 6.2.1.2 Design/Synthesis . . . . . . . . . . . . . . . 157 6.2.1.3 Testing and Results . . . . . . . . . . . . . 159 6.2.1.4 Conclusion . . . . . . . . . . . . . . . . . . 161 6.2.2 Case Study 2: Safety of a Maneuver Planning Algorithm for Highway Driving . . . . . . . . . . . . . . . 162 6.2.2.1 Modeling . . . . . . . . . . . . . . . . . . . 163 6.2.2.2 Design/Synthesis . . . . . . . . . . . . . . . 163 6.2.2.3 Testing and Results . . . . . . . . . . . . . 167 6.2.2.4 Conclusion . . . . . . . . . . . . . . . . . . 175 7 Conclusions 177 7.1 Main Findings . . . . . . . . . . . . . . . . . . . . . . . . . . 178 7.2 Answers to the Research Questions . . . . . . . . . . . . . . 179 7.3 Possible Future Directions . . . . . . . . . . . . . . . . . . . 181 Appendix A Additional Details 185 A.1 Rigid Bodies of the Vehicles . . . . . . . . . . . . . . . . . . 185 A.2 Collision Detection . . . . . . . . . . . . . . . . . . . . . . . 186 A.3 Trajectory Tracking in Frenet Coordinates . . . . . . . . . . 187 References 189

Approved for public release, distribution is unlimited / alities. The extensible Markup Language (XML) is used for data storage and message exchange, Extensible 3D (X3D) Graphics for visualization and XML Schema-based Binary Compression (XSBC) for data compression. The AUV Workbench provides an intuitive cross-platform-capable tool with extensibility to provide for future enhancements such as agent-based control, asynchronous reporting and communication, loss-free message compression and built-in support for mission data archiving. This thesis also investigates the Jabber instant messaging protocol, showing its suitability for text and file messaging in a tactical environment. Exemplars show that the XML backbone of this open-source technology can be leveraged to enable both human and agent messaging with improvements over current systems. Integrated Jabber instant messaging support makes the NPS AUV Workbench the first custom application supporting XML Tactical Chat (XTC). Results demonstrate that the AUV Workbench provides a capable testbed for diverse AUV technologies, assisting in the development of traditional single-vehicle operations and agent-based multiple-vehicle methodologies. The flexible design of the Workbench further encourages integration of new extensions to serve operational needs. Exemplars demonstrate how in-mission and post-mission event monitoring by human operators can be achieved via simple web page, standard clients or custom instant messaging client. Finally, the AUV Workbench's potential as a tool in the development of multiple-AUV tactics and doctrine is discussed. / Civilian, Singapore Defence Science and Technology Agency