Abstract: A control system includes a processor; and a memory storing program instructions that cause the processor to control an operation of an object and output state information indicating a state of the controlled object; perform first control that operates the controlled object according to a first safety rule; perform second control that operates the controlled object according to a second safety rule; and perform the first control in response to determining that the state information satisfies a first switching condition defined based on the first safety rule and the second safety rule, and perform the second control in response to determining that the state information does not satisfy the first switching condition.

Abstract: A safety rule generation device includes: a processor; and a memory connected to the processor, wherein the processor is configured to: receive input of a plurality of control flows indicating state transitions of a plurality of moving bodies, respectively, the moving bodies operating in a predetermined scenario; generate an integrated control flow in which the plurality of control flows are integrated based on transition conditions assigned to the control flows; assign logical expression constraints that guarantee safety, to respective states included in the integrated control flow; and generate a safety rule based on the logical expression constraints.

Abstract: A sampling device includes a memory and a processor configured to execute selecting a control flow corresponding to each branch in a probabilistic program; optimizing the program by applying predetermined transformation rules to the program of the selected control flow by back propagation; and generating samples according to the optimized program.

Abstract: A safety rule capable of coping with a complex scenario is formulated. A safety rule generation device includes an input unit configured to receive an input of scenario information representing a predetermined scenario by chaining subscenarios in which a control strategy and a goal are associated, a precondition calculation unit configured to calculate a precondition for executing the control strategy while achieving the goal for each of the subscenarios, and an output unit configured to output safety rule information obtained by combining the precondition and the control strategy for each of the subscenarios.

Abstract: A sampling device includes a memory and a processor configured to execute selecting a control flow corresponding to each branch in a probabilistic program; optimizing the program by applying predetermined transformation rules to the program of the selected control flow by back propagation; and generating samples according to the optimized program.