Related papers: Safe & Robust Reachability Analysis of Hybrid Syst…
The problem of computing the reachable set for a given system is a quintessential question in nonlinear control theory. While previous work has yielded a plethora of approximate and analytical methods for determining such a set, these…
Hamilton-Jacobi (HJ) reachability analysis is a powerful tool for analyzing the safety of autonomous systems. However, the provided safety assurances are often predicated on the assumption that once deployed, the system or its environment…
In order to develop provably safe human-in-the-loop systems, accurate and precise models of human behavior must be developed. In the case of intelligent vehicles, one can imagine the need for predicting driver behavior to develop minimally…
Some hybrid systems models are unsafe for mathematically correct but physically unrealistic reasons. For example, mathematical models can classify a system as being unsafe on a set that is too small to have physical importance. In…
Autonomous systems like aircraft and assistive robots often operate in scenarios where guaranteeing safety is critical. Methods like Hamilton-Jacobi reachability can provide guaranteed safe sets and controllers for such systems. However,…
Hamilton-Jacobi (HJ) reachability is a method that provides rigorous analyses of the safety properties of dynamical systems. This method has been successfully applied to many low-dimensional dynamical system models such as coarse models of…
Formal verification of robotic tasks requires a simple yet conformant model of the used robot. We present the first work on generating reachset conformant models for robotic contact tasks considering hybrid (mixed continuous and discrete)…
There has been an increasing interest in using neural networks in closed-loop control systems to improve performance and reduce computational costs for on-line implementation. However, providing safety and stability guarantees for these…
Controlling hybrid systems is mostly very challenging due to the variety of dynamics these systems can exhibit. Inspired by the concept of differential flatness of nonlinear continuous systems and their inherent invertibility property, the…
In this paper, we propose a data-driven reachability analysis approach for unknown system dynamics. Reachability analysis is an essential tool for guaranteeing safety properties. However, most current reachability analysis heavily relies on…
In real world applications, uncertain parameters are the rule rather than the exception. We present a reachability algorithm for linear systems with uncertain parameters and inputs using set propagation of polynomial zonotopes. In contrast…
Robustness as a system property describes the degree to which a system is able to function correctly in the presence of disturbances, i.e., unforeseen or erroneous inputs. In this paper, we introduce a notion of robustness termed…
Hybrid systems exhibit phenomena which do not occur in systems with continuous vector fields. One such phenomenon - Zeno executions - is characterized by an infinite number of discrete events or transitions occurring over a finite interval…
Reachability analysis is at the core of many applications, from neural network verification, to safe trajectory planning of uncertain systems. However, this problem is notoriously challenging, and current approaches tend to be either too…
It is ``folklore'' that the solution to a set reachability problem for a dynamical system is only noncomputable because of non-robustness reasons. A robustness condition that can be imposed on a dynamical system is the requirement of the…
Markov decision processes model systems subject to nondeterministic and probabilistic uncertainty. A plethora of verification techniques addresses variations of reachability properties, such as: Is there a scheduler resolving the…
Verification of discrete time or continuous time dynamical systems over the reals is known to be undecidable. It is however known that undecidability does not hold for various classes of systems: if robustness is defined as the fact that…
We study the reachability problem of a quantum system modelled by a quantum automaton. The reachable sets are chosen to be boolean combinations of (closed) subspaces of the state space of the quantum system. Four different reachability…
The safety of infinite state systems can be checked by a backward reachability procedure. For certain classes of systems, it is possible to prove the termination of the procedure and hence conclude the decidability of the safety problem.…
We propose a new approach for proving safety of infinite state systems. It extends the analyzed system by transitive relations until its diameter D becomes finite, i.e., until constantly many steps suffice to cover all reachable states,…