Related papers: Runtime Enforcement With Partial Control
We study certified runtime monitoring of past-time signal temporal logic (ptSTL) from visual observations under partial observability. The monitor must infer safety-relevant quantities from images and provide finite-sample guarantees, while…
We propose a method for planning motion for robots with actuation uncertainty that incorporates contact with the environment and the compliance of the robot to reliably perform manipulation tasks. Our approach consists of two stages: (1)…
Runtime verification is a computing analysis paradigm based on observing a system at runtime (to check its expected behaviour) by means of monitors generated from formal specifications. Distributed runtime verification is runtime…
Learning-based methods provide a promising approach to solving highly non-linear control tasks that are often challenging for classical control methods. To ensure the satisfaction of a safety property, learning-based methods jointly learn a…
Adaptivity in multi-function radar systems is rapidly increasing, especially when moving towards fully adaptive, cognitive radar systems. However, the large number of available system configurations makes the rigorous verification and…
Soft robotic manipulators offer operational advantage due to their compliant and deformable structures. However, their inherently nonlinear dynamics presents substantial challenges. Traditional analytical methods often depend on simplifying…
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…
Physical adversarial attacks are increasingly studied in settings that resemble deployed surveillance systems rather than isolated image benchmarks. In these settings, person detection, multi-object tracking, visible--infrared sensing, and…
Programmable Logic Controllers (PLCs) are the core control devices in Industrial Control Systems (ICSs), which control and monitor the underlying physical plants such as power grids. PLCs were initially designed to work in a trusted…
The observable behavior of a system usually carries useful information about its internal state, properties, and potential future behaviors. In this paper, we introduce configuration monitoring to determine an unknown configuration of a…
Reliability of complex Cyber-Physical Systems is necessary to guarantee availability and/or safety of the provided services. Diverse and complex fault tolerance policies are adopted to enhance reliability, that include a varied mix of…
An established trend in software engineering insists on using components (sometimes also called services or packages) to encapsulate a set of related functionalities or data. By defining interfaces specifying what functionalities they…
The widespread adoption of autonomous systems depends on providing guarantees of safety and functional correctness, at both design time and runtime. Information about the extent to which functional requirements can be met in combination…
This paper deals with the design of time-invariant memoryless control policies for robots that move in a finite two- dimensional lattice and are tasked with persistent surveillance of an area in which there are forbidden regions. We model…
Event-driven scheduling policies are increasingly deployed in industrial environments, where decisions are made under asynchronous and partially observed system states. As a result, decision states are not temporally consistent, action…
We study the problem of policy repair for learning-based control policies in safety-critical settings. We consider an architecture where a high-performance learning-based control policy (e.g. one trained as a neural network) is paired with…
We consider the problem of reinforcement learning when provided with (1) a baseline control policy and (2) a set of constraints that the learner must satisfy. The baseline policy can arise from demonstration data or a teacher agent and may…
Safety is a critical feature of controller design for physical systems. When designing control policies, several approaches to guarantee this aspect of autonomy have been proposed, such as robust controllers or control barrier functions.…
Data minimisation is a privacy enhancing principle, stating that personal data collected should be no more than necessary for the specific purpose consented by the user. Checking that a program satisfies the data minimisation principle is…
[Context and Motivation]: Cyber-Physical Systems (CPS) have become relevant in a wide variety of different domains, integrating hardware and software, often operating in an emerging and uncertain environment where human actors actively or…