Multimodal Model Predictive Runtime Verification for Safety of Autonomous Cyber-Physical Systems

Alexis Aurandt, Phillip H. Jones, Kristin Yvonne Rozier, and Tichakorn Wongpiromsarn

This webpage contains further details and artifacts for reproducibility of the experiments in "Multimodal Model Predictive Runtime Verification for Safety of Autonomous Cyber-Physical Systems"

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F1Tenth Ego-Vehicle Model Predictive Control (MPC)

Details available here: F1Tenth Ego-Vehicle Model Predictive Control

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Operator-Splitting Quadratic Program (OSQP)

Available here: https://osqp.org/

OsqpEigen C++ wrapper library available here: https://github.com/robotology/osqp-eigen

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F1Tenth Implementation

Available here: https://github.com/aaurandt/MMPRV_F1Tenth

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