Related papers: Runtime Enforcement for Component-Based Systems
Operators performing high-stakes, safety-critical tasks - such as air traffic controllers, surgeons, or mission control personnel - must maintain exceptional cognitive performance under variable and often stressful conditions. This paper…
Program execution monitoring consists of checking whole executions for given properties in order to collect global run-time information. Monitoring is very useful to maintain programs. However, application developers face the following…
Benchmarking is crucial for testing and validating any system, even more so in real-time systems. Typical real-time applications adhere to well-understood abstractions: they exhibit a periodic behavior, operate on a well-defined working…
The understanding of the behavioral aspects of a software system is an essential enabler for many software engineering activities, such as adaptation. This involves collecting runtime data from the system so that it is possible to analyze…
Regular model checking is a technique for the verification of infinite-state systems whose configurations can be represented as finite words over a suitable alphabet. The form we are studying applies to systems whose set of initial…
Recent advances in Behavior Cloning (BC) have made it easy to teach robots new tasks. However, we find that the ease of teaching comes at the cost of unreliable performance that saturates with increasing data for tasks requiring precision.…
System integration testing is the process of testing a system by the stepwise integration of sub-components. Usually these sub-components are already verified to guarantee their correct functional behavior. By integration of these verified…
This work studies the synthesis of active perception policies for predictive safety monitoring in partially observable stochastic systems. Operating under strict sensing and communication budgets, the proposed monitor dynamically schedules…
Robots must satisfy safety-critical state and input constraints despite disturbances and model mismatch. We introduce a robust model predictive control (RMPC) formulation that is fast, scalable, and compatible with real-time implementation.…
A critical step towards certifying safety-critical systems is to check their conformance to hard real-time requirements. A promising way to achieve this is by building the systems from pre-verified components and verifying their correctness…
The $\ell_1$ tracker obtains robustness by seeking a sparse representation of the tracking object via $\ell_1$ norm minimization \cite{Xue_ICCV_09_Track}. However, the high computational complexity involved in the $ \ell_1 $ tracker…
A new belief space planning algorithm, called covariance steering Belief RoadMap (CS-BRM), is introduced, which is a multi-query algorithm for motion planning of dynamical systems under simultaneous motion and observation uncertainties.…
Despite the success of model predictive control (MPC), its application to high-dimensional systems, such as flexible structures and coupled fluid/rigid-body systems, remains a largely open challenge due to excessive computational…
Limitations of CAP theorem imply that if availability is desired in the presence of network partitions, one must sacrifice sequential consistency, a consistency model that is more natural for system design. We focus on the problem of what a…
This paper introduces the safety controller architecture as a runtime assurance mechanism for system specifications expressed as safety properties in Linear Temporal Logic (LTL). The safety controller has three fundamental components: a…
Fast feedback control and safety guarantees are essential in modern robotics. We present an approach that achieves both by combining novel robust model predictive control (MPC) with function approximation via (deep) neural networks (NNs).…
Most existing process compliance monitoring approaches detect compliance violations in an ex post manner. Only predicate prediction focuses on predicting them. However, predicate prediction provides a binary yes/no notion of compliance,…
Runtime monitoring is commonly used to detect the violation of desired properties in safety critical cyber-physical systems by observing its executions. Bauer et al. introduced an influential framework for monitoring Linear Temporal Logic…
In this paper we propose a novel methodology that allows to design, in a purely data-based fashion and for linear single-input and single-output systems, both robustly stable and performing control systems for tracking piecewise constant…
Reinforcement learning (RL) algorithms interact with their environment in a trial-and-error fashion. Such interactions can be expensive, inefficient, and timely when learning on a physical system rather than in a simulation. This work…