Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: A Modeled Approach for Online Adversarial Test of Operational Vehicle
  Safety (extended version)   The scenario-based testing of operational vehicle safety presents a set of
principal other vehicle (POV) trajectories that seek to force the subject
vehicle (SV) into a certain safety-critical situation. Current scenarios are
mostly (i) statistics-driven: inspired by human driver crash data, (ii)
deterministic: POV trajectories are pre-determined and are independent of SV
responses, and (iii) overly simplified: defined over a finite set of actions
performed at the abstracted motion planning level. Such scenario-based testing
(i) lacks severity guarantees, (ii) has predefined maneuvers making it easy for
an SV with intelligent driving policies to game the test, and (iii) is
inefficient in producing safety-critical instances with limited and expensive
testing effort. We propose a model-driven online feedback control policy for
multiple POVs which propagates efficient adversarial trajectories while
respecting traffic rules and other concerns formulated as an admissible
state-action space. The approach is formulated in an anchor-template hierarchy
structure, with the template model planning inducing a theoretical SV capturing
guarantee under standard assumptions. The planned adversarial trajectory is
then tracked by a lower-level controller applied to the full-system or the
anchor model. The effectiveness of the methodology is illustrated through
various simulated examples with the SV controlled by either parameterized
self-driving policies or human drivers.

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The categories of this paper are: alg-geom
11
The categories of this paper are: hep-lat
7
The categories of this paper are: hep-th
13
The categories of this paper are: quant-ph
24
The categories of this paper are: dg-ga
29
The categories of this paper are: funct-an
17
The categories of this paper are: q-fin
10
The categories of this paper are: q-bio
35
The categories of this paper are: mtrl-th
33
The categories of this paper are: plasm-ph
23
The categories of this paper are: solv-int
3
The categories of this paper are: physics
2
The categories of this paper are: math
32
The categories of this paper are: atom-ph
20
The categories of this paper are: acc-phys
14
The categories of this paper are: math-ph