 Although there is an established field that studies safety certification and convergence guarantee of complex software systems for decision-making during design-time , the uncertainty in run-time conditions and the unknown future deployment environments of autonomous systems as well as the complexity of learning-based perception systems make the generalisation of the verification results from design-time  to run-time problematic.
<coherence>  Although there is an established field that studies safety certification and convergence guarantee of complex software systems for decision-making during design-time , the uncertainty in run-time conditions and the unknown future deployment environments of autonomous systems as well as the complexity of learning-based perception systems make the generalisation of the verification results from design-time  to run-time problematic.
 Although there is an established field that studies safety certification and convergence guarantee of complex software systems for decision-making during design-time , the uncertainty in run-time conditions and the unknown future deployment environments of autonomous systems as well as the complexity of learning-based perception make the generalization of design-time to run-time problematic.