Related papers: The Reach-Avoid Problem for Constant-Rate Multi-Mo…
We address the reachability problem for continuous-time stochastic dynamic systems. Our objective is to present a unified framework that characterizes the reachable set of a dynamic system in the presence of both stochastic disturbances and…
We propose a solution to a time-varying variant of Markov Decision Processes which can be used to address decision-theoretic planning problems for autonomous systems operating in unstructured outdoor environments. We explore the time…
Reachability analysis is an important method in providing safety guarantees for systems with unknown or uncertain dynamics. Due to the computational intractability of exact reachability analysis for general nonlinear, high-dimensional…
Multi-priced timed automata (MPTA) are timed automata with observer variables whose derivatives can change from one location to another. Observers are write-only variables, that is, they do not affect the control flow of the automaton; thus…
This paper proposes a finitely terminating algorithm to solve reach-and-stay control problems for nonlinear systems. The algorithm is guaranteed to return a control strategy if the specification is robustly realizable. Such a feature is…
We present an algorithm for robust model predictive control with consideration of uncertainty and safety constraints. Our framework considers a nonlinear dynamical system subject to disturbances from an unknown but bounded uncertainty set.…
Control invariant sets are crucial for various methods that aim to design safe control policies for systems whose state constraints must be satisfied over an indefinite time horizon. In this article, we explore the connections among…
Continuum robots, characterized by their high flexibility and infinite degrees of freedom (DoFs), have gained prominence in applications such as minimally invasive surgery and hazardous environment exploration. However, the intrinsic…
A shortcoming of existing reachability approaches for nonlinear systems is the poor scalability with the number of continuous state variables. To mitigate this problem we present a simulation-based approach where we first sample a number of…
This paper deals with the problem of point-to-point reachability in multi-linear systems. These systems consist of a partition of the Euclidean space into a finite number of regions and a constant derivative assigned to each region in the…
Linear-Rate Multi-Mode Systems is a model that can be seen both as a subclass of switched linear systems with imposed global safety constraints and as hybrid automata with no guards on transitions. We study the existence and design of a…
When designing optimal controllers for any system, it is often the case that the true state of the system is unknown to the controller, for example due to noisy measurements or partially observable states. Incomplete state information must…
In this work, we analyze an efficient sampling-based algorithm for general-purpose reachability analysis, which remains a notoriously challenging problem with applications ranging from neural network verification to safety analysis of…
The pairwise reachability problem for a multi-threaded program asks, given control locations in two threads, whether they can be simultaneously reached in an execution of the program. The problem is important for static analysis and is used…
Neural Networks (NNs) can provide major empirical performance improvements for closed-loop systems, but they also introduce challenges in formally analyzing those systems' safety properties. In particular, this work focuses on estimating…
A hybrid network is a static (electronic) network that is augmented with optical switches. The Reconfigurable Routing Problem (RRP) in hybrid networks is the problem of finding settings for the optical switches augmenting a static network…
Traditional reachability methods provide formal guarantees of safety under bounded disturbances. However, they strictly enforce state constraints as inviolable, which can result in overly conservative or infeasible solutions in complex…
We study the class of reach-avoid dynamic games in which multiple agents interact noncooperatively, and each wishes to satisfy a distinct target criterion while avoiding a failure criterion. Reach-avoid games are commonly used to express…
In this paper we propose novel optimization-based methods for verifying reach-avoid (or, eventuality) properties of continuous-time systems modelled by ordinary differential equations. Given a system, an initial set, a safe set and a target…
We consider the problem of proving that each point in a given set of states ("target set") can indeed be reached by a given nondeterministic continuous-time dynamical system from some initial state. We consider this problem for abstract…