  Agents operating in physical environments need to be able to handle delays in
the input and output signals since neither data transmission nor sensing or
actuating the environment are instantaneous. Shields are
correct-by-construction runtime enforcers that guarantee safe execution by
correcting any action that may cause a violation of a formal safety
specification. Besides providing safety guarantees, shields should interfere
minimally with the agent. Therefore, shields should pick the safe corrective
actions in such a way that future interferences are most likely minimized.
Current shielding approaches do not consider possible delays in the input
signals in their safety analyses. In this paper, we address this issue. We
propose synthesis algorithms to compute \emph{delay-resilient shields} that
guarantee safety under worst-case assumptions on the delays of the input
signals. We also introduce novel heuristics for deciding between multiple
corrective actions, designed to minimize future shield interferences caused by
delays. As a further contribution, we present the first integration of shields
in a realistic driving simulator. We implemented our delayed shields in the
driving simulator \textsc{Carla}. We shield potentially unsafe autonomous
driving agents in different safety-critical scenarios and show the effect of
delays on the safety analysis.
