01 / UNCERTAINTY
Time-growing prediction
Obstacle position covariance expands with acceleration uncertainty instead of assuming perfect future motion.
Runtime assurance for autonomous robots
Trust the planner.
Verify the command.
A deterministic safety layer that predicts uncertain collisions, overrides unsafe black-box planner commands, and explains the intervention with counterfactual evidence.
Black-box planner command
↓
Uncertain reachable-tube prediction
↓
Chance-constrained risk envelope
↓
Reject + search
Allow unchanged
↓
Applied command + auditable evidence
Reproduced warehouse-crossing result
Unsafe intent becomes measurable evidence.
An autonomous mobile robot and an uncertain forklift enter the same blind crossing. Aegis evaluates the original command plus 25 bounded alternatives, then applies the least-deviating candidate inside the configured risk envelope.
Commanded risk
99.526%
Applied risk
0.000311%
Min clearance
1.39 m
p95 latency
6.75 ms
Engineering depth
A safety boundary that exposes its assumptions.
02 / SIMPLEX
Planner-independent guard
The planner remains replaceable and untrusted; the supervisor owns the final command decision.
03 / EXPLAINABILITY
Counterfactual evidence
Every intervention records what changed, when risk appeared, and how much risk the alternative removed.
04 / DETERMINISM
Repeatable replay
Scenario input, control lattice, decision JSON, and report generation are deterministic and tested.
05 / FAILURE SEMANTICS
No false safety claim
When no candidate meets the budget, Aegis labels the result minimum-risk rather than calling it safe.
06 / EXTENSIBILITY
Research path included
ROS 2 adapters, control barrier functions, calibrated prediction, and HIL braking validation are tracked publicly.
Scope and integrity
Prototype claims stay testable.
Aegis is a research prototype, not a certified safety component. Measurements were reproduced on one arm64 machine and are not hard real-time guarantees. The public build log records the AI-assisted development window exactly and makes no unsupported comparison with other engineers.