Related papers: TIRA: Toolbox for Interval Reachability Analysis

We introduce the class of Interrupt Timed Automata (ITA), a subclass of hybrid automata well suited to the description of timed multi-task systems with interruptions in a single processor environment. While the reachability problem is…

In the first part of this paper we introduced an algorithm that uses reachable set approximation to approximate the minimum time function of linear control problems. To illustrate the error estimates and to demonstrate differences to other…

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…

Reachability analysis plays a central role in low-thrust spacecraft trajectory optimization by identifying which target states can be achieved under constraints on time, thrust, and propellant. Classical approaches construct reachable sets…

A runtime assurance system (RTA) for a given plant enables the exercise of an untrusted or experimental controller while assuring safety with a backup (or safety) controller. The relevant computational design problem is to create a logic…

Reachability analysis of hybrid systems has been used as a safety verification tool to assess offline whether the state of a system is capable of remaining within a designated safe region for a given time horizon. Although it has been…

This paper proposes methods for reachability analysis of nonlinear systems in both open loop and closed loop with advanced controllers. The methods combine hybrid zonotopes, a construct called a state-update set, functional decomposition,…

The reachable sets of nonlinear control systems can in general only be numerically approximated, and are often very expensive to calculate. In this paper, we propose an algorithm that tracks only the boundaries of the reachable sets and…

Learned Iterative Shrinkage-Thresholding Algorithm (LISTA) introduces the concept of unrolling an iterative algorithm and training it like a neural network. It has had great success on sparse recovery. In this paper, we show that adding…

In this paper, we consider the computational complexity of bounding the reachable set of a Linear Time-Invariant (LTI) system controlled by a Rectified Linear Unit (ReLU) Two-Level Lattice (TLL) Neural Network (NN) controller. In…

Test-Time Adaptation (TTA) has emerged as a promising paradigm for enhancing the generalizability of models. However, existing mainstream TTA methods, predominantly operating at batch level, often exhibit suboptimal performance in complex…

To reliably model real robot characteristics, interval linear systems of equations allow to describe families of problems that consider sets of values. This allows to easily account for typical complexities such as sets of joint states and…

We study the reachability problem for systems implemented as feed-forward neural networks whose activation function is implemented via ReLU functions. We draw a correspondence between establishing whether some arbitrary output can ever be…

Counter systems are a well-known and powerful modeling notation for specifying infinite-state systems. In this paper we target the problem of checking temporal properties of counter systems. We first focus on checking liveness properties…

Time-Optimal Path Parameterization (TOPP) is a well-studied problem in robotics and has a wide range of applications. There are two main families of methods to address TOPP: Numerical Integration (NI) and Convex Optimization (CO). NI-based…

This paper describes a new MATLAB software package of iterative regularization methods and test problems for large-scale linear inverse problems. The software package, called IR Tools, serves two related purposes: we provide implementations…

As dynamical systems equipped with neural network controllers (neural feedback systems) become increasingly prevalent, it is critical to develop methods to ensure their safe operation. Verifying safety requires extending control theoretic…

A unified foundation model for medical time series -- pretrained on open access and ethics board-approved medical corpora -- offers the potential to reduce annotation burdens, minimize model customization, and enable robust transfer across…

Forward reachability analysis is the predominant approach for verifying reach-avoid properties in neural feedback systems (dynamical systems controlled by neural networks). This dominance stems from the limited scalability of existing…

In the last decade, temporal networks and static and temporal hypergraphs have enabled modelling connectivity and spreading processes in a wide array of real-world complex systems such as economic transactions, information spreading, brain…