Related papers: Bounded Synthesis of Resilient Supervisors
We present an algorithm for synthesising a controller (supervisor) for a discrete event system (DES) based on the property-directed reachability (PDR) model checking algorithm. The discrete event systems framework is useful in both…
This paper proposes a class of resilient state estimators for LTV 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…
Biological and advanced cyberphysical control systems often have limited, sparse, uncertain, and distributed communication and computing in addition to sensing and actuation. Fortunately, the corresponding plants and performance…
While control barrier functions (CBFs) are employed in addressing safety, control synthesis methods based on them generally rely on accurate system dynamics. This is a critical limitation, since the dynamics of complex systems are often not…
Symmetries have been exploited successfully within the realms of SAT and QBF to improve solver performance in practical applications and to devise more powerful proof systems. As a first step towards extending these advancements to the…
As the complexity of control systems increases, safety becomes an increasingly important property since safety violations can damage the plant and put the system operator in danger. When the system dynamics are unknown, safety-critical…
This paper addresses the synthesis of safety-critical controllers using estimate feedback. We propose an observer-controller interconnection to ensure that the nonlinear system remains safe despite bounded disturbances on the system…
Ensuring the safety of control systems often requires the satisfaction of constraints on states (such as position or velocity), control inputs (such as force), and a mixture of states and inputs (such as power that depends on both velocity…
The aim of this PhD project is to develop fast and robust reasoning tools for dependency quantified Boolean formulas (DQBF). In this paper, we outline two properties, autarkies and symmetries, that potentially can be exploited for pre- and…
Interconnected systems such as power systems and chemical processes are often required to satisfy safety properties in the presence of faults and attacks. Verifying safety of these systems, however, is computationally challenging due to…
This paper deals with secure state estimation of cyber-physical systems subject to switching (on/off) attack signals and injection of fake packets (via either packet substitution or insertion of extra packets). The random set paradigm is…
The aim of this work is to address issues where formal specifications cannot be realized on a given dynamical system subjected to a changing environment. Such failures occur whenever the dynamics of the system restrict the robot in such a…
We consider robust control synthesis for linear systems with complex specifications that are affected by uncertain disturbances. This work is motivated by autonomous systems interacting with partially known, time-varying environments. Given…
Control barrier functions-based quadratic programming (CBF-QP) is gaining popularity as an effective controller synthesis tool for safe control. However, the provable safety is established on an accurate dynamic model and access to all…
Control Lyapunov functions (CLFs) and control barrier functions (CBFs) are widely used tools for synthesizing controllers subject to stability and safety constraints. Paired with online optimization, they provide stabilizing control actions…
High-order control barrier functions (HOCBFs) can be used to provide autonomous systems with safety, though computational methods to verify and synthesize these functions remain lacking. In this work, we address this need by formulating SOS…
This paper investigates the distributed safety critical control for multi-agent systems (MASs) in the presence of uncontrollable agents with uncertain behaviors. To ensure system safety, the control barrier function (CBF) is employed in…
Constructing good test cases is difficult and time-consuming, especially if the system under test is still under development and its exact behavior is not yet fixed. We propose a new approach to compute test strategies for reactive systems…
Upon the discovery of adversarial attacks, robust models have become obligatory for deep learning-based systems. Adversarial training with first-order attacks has been one of the most effective defenses against adversarial perturbations to…
Quadratic Program(QP) based state-feedback controllers, whose inequality constraints bound the rate of change of control barrier(CBFs) and lyapunov function with a class-$\mathcal{K}$ function of their values, are sensitive to the…