AEGIS RUNTIME ASSURANCE / DECISION EVIDENCE
blind warehouse crossing with uncertain forklift motion
Command rejected: predicted collision probability exceeds the risk budget; least-deviating safe control selected.
Decision
INTERVENED
Commanded risk
99.53%
Applied risk
0.00%
Candidates evaluated
26
Counterfactual control
Planner: a=0.00 m/s², ω=0.00 rad/s
Applied: a=0.00 m/s², ω=-0.60 rad/s
Highest-risk predictions before intervention
| t (s) | Obstacle | Clearance (m) | Collision risk |
|---|---|---|---|
| 3.0 | forklift-17 | -1.45 | 99.53% |
| 2.9 | forklift-17 | -1.23 | 99.03% |
| 3.1 | forklift-17 | -1.23 | 98.05% |
| 2.8 | forklift-17 | -1.00 | 97.92% |
| 2.7 | forklift-17 | -0.78 | 95.47% |
| 3.2 | forklift-17 | -1.00 | 94.40% |
| 2.6 | forklift-17 | -0.56 | 90.16% |
| 3.3 | forklift-17 | -0.78 | 87.79% |
| 2.5 | forklift-17 | -0.33 | 79.57% |
| 3.4 | forklift-17 | -0.56 | 78.35% |