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With the increasing need for safe control in the domain of autonomous driving, model-based safety-critical control approaches are widely used, especially Control Barrier Function (CBF) based approaches. Among them, Exponential CBF (eCBF) is particularly popular due to its realistic applicability to high-relative-degree systems. However, for most of the optimization-based controllers utilizing CBF-based constraints, solution feasibility is a common issue raised from potential conflict among different constraints. Moreover, how to incorporate uncertainty into the eCBF-based constraints in high-relative-degree systems to account for safety remains an open challenge. In this paper, we present a novel approach to extend a eCBF-based safe critical controller to a probabilistic setting to handle potential motion uncertainty from system dynamics. More importantly, we leverage an optimization-based technique to provide a solution feasibility guarantee in run time, while ensuring probabilistic safety. Lane changing and intersection handling are demonstrated as two use cases, and experiment results are provided to show the effectiveness of the proposed approach. 

Search-based automatic program repair has shown promise in reducing the cost of defects in real-world software. However, to date, such techniques have typically been most successful when constructing short or single-edit repairs. This is true even when techniques make use of heuristic search strategies, like genetic programming, that in principle support the construction of patches of arbitrary length. One key reason is that the fitness function traditionally depends entirely on test cases, which are poor at identifying partially correct solutions and lead to a fitness landscape with many plateaus. We propose a novel fitness function that optimizes for both functionality and semantic diversity, characterized using learned invariants over intermediate behavior. Our early results show that this new approach improves semantic diversity and fitness granularity, but does not statistically significantly improve repair performance.