Related papers: Constraining Attacker Capabilities Through Actuato…
Resilient systems are able to recover quickly and easily from disturbed system states that might result from hazardous events or malicious attacks. In this paper a novel resilience metric for linear time invariant systems is proposed: the…
Over-approximating the forward reach sets of controlled dynamical systems subject to set-valued uncertainties is a common practice in systems-control engineering for the purpose of performance verification. However, specific algebraic and…
Indiscriminate data poisoning attacks aim to decrease a model's test accuracy by injecting a small amount of corrupted training data. Despite significant interest, existing attacks remain relatively ineffective against modern machine…
Iterative trajectory optimization techniques for non-linear dynamical systems are among the most powerful and sample-efficient methods of model-based reinforcement learning and approximate optimal control. By leveraging time-variant local…
A popular method for solving reachability in timed automata proceeds by enumerating reachable sets of valuations represented as zones. A na\"ive enumeration of zones does not terminate. Various termination mechanisms have been studied over…
This paper investigates the application of reachability analysis to the re-entry problem faced by vehicles entering Earth's atmosphere. The study delves into the time evolution of reachable sets for the system, particularly when subject to…
Unrestricted adversarial attacks aim to fool computer vision models without being constrained by $\ell_p$-norm bounds to remain imperceptible to humans, for example, by changing an object's color. This allows attackers to circumvent…
In this paper, we study thetime-bounded reachability problem for rectangular hybrid automata with non-negative rates (RHA+). This problem was recently shown to be decidable [Brihaye et al, ICALP11] (even though the unbounded reachability…
We define a special class of hybrid automata, called Deterministic and Transversal Linear Hybrid Automata (DTLHA), whose continuous dynamics in each location are linear time-invariant (LTI) with a constant input, and for which every…
We study the computational problem of rigorously describing the asymptotic behaviour of topological dynamical systems up to a finite but arbitrarily small pre-specified error. More precisely, we consider the limit set of a typical orbit,…
Ensuring safe, real-time motion planning in arbitrary environments requires a robotic manipulator to avoid collisions, obey joint limits, and account for uncertainties in the mass and inertia of objects and the robot itself. This paper…
We consider the problem of computing reachable sets directly from noisy data without a given system model. Several reachability algorithms are presented for different types of systems generating the data. First, an algorithm for computing…
The `security index' of a discrete-time LTI system under sensor attacks is introduced as a quantitative measure on the security of an observable system. We derive ideas from error control coding theory to provide sufficient conditions for…
In the transition to net zero, it has been suggested that a massive expansion of the electric power grid will be required to support emerging renewable energy zones. In this paper, we propose the use of battery-based feedback control and…
Reachability analysis is important for studying optimal control problems and differential games, which are powerful theoretical tools for analyzing and modeling many practical problems in robotics, aircraft control, among other application…
Reachability analysis is a formal method to guarantee safety of dynamical systems under the influence of uncertainties. A substantial bottleneck of all reachability algorithms is the necessity to adequately tune specific algorithm…
This paper presents a constraint-aware control framework for underactuated aerial manipulators, enabling accurate end-effector trajectory tracking while explicitly accounting for safety and feasibility constraints. The control problem is…
Scheduling communication traffic in networks of event-triggered control (ETC) systems is challenging, as their sampling times are unknown, hindering application of ETC in networks. In previous work, finite-state abstractions were created,…
Current agentic AI architectures are fundamentally incompatible with the security and epistemological requirements of high-stakes scientific workflows. The problem is not inadequate alignment or insufficient guardrails, it is architectural:…
This paper proposes a resilient state estimator for LTI discrete-time systems. The dynamic equation of the system is assumed to be affected by a bounded process noise. As to the available measurements, they are potentially corrupted by a…