Related papers: Safety Control with Preview Automaton
Safety-critical systems, such as autonomous vehicles, often incorporate perception modules that can anticipate upcoming disturbances to system dynamics, expecting that such preview information can improve the performance and safety of the…
The control of complex systems faces a trade-off between high performance and safety guarantees, which in particular restricts the application of learning-based methods to safety-critical systems. A recently proposed framework to address…
Recent advances in learning-based perception systems have led to drastic improvements in the performance of robotic systems like autonomous vehicles and surgical robots. These perception systems, however, are hard to analyze and errors in…
Incorporating predictions of external inputs, which can otherwise be treated as disturbances, has been widely studied in control and computer science communities. These predictions are commonly referred to as preview in optimal control and…
In this paper, we consider the problem of controller design using approximately bisimilar abstractions with an emphasis on safety and reachability specifications. We propose abstraction-based approaches to solve both classes of problems. We…
In this paper, we investigate the problem of synthesizing controllers for temporal logic specifications under security constraint. We assume that there exists a passive intruder (eavesdropper) that can partially observe the behavior of the…
This paper employs correct-by-construction control synthesis, in particular controlled invariant set computations, for falsification. Our hypothesis is that if it is possible to compute a "large enough" controlled invariant set either for…
Delays are ubiquitous in modern hybrid systems, which exhibit both continuous and discrete dynamical behaviors. Induced by signal transmission, conversion, the nature of plants, and so on, delays may appear either in the continuous…
We consider the problem of coordinating a collection of switched subsystems under both local and global constraints for safe operation of the system. Although an invariant set can be leveraged to construct a safety-guaranteed controller for…
In this work, we present a compositional safety controller synthesis approach for the class of discrete-time linear control systems. Here, we leverage a state-of-the-art result on the computation of robust controlled invariant sets. To…
This paper addresses the problem of traffic prediction and control of autonomous vehicles on highways. A modified Interacting Multiple Model Kalman filter algorithm is applied to predict the motion behavior of the traffic participants by…
In recent years, formal methods have been extensively used in the design of autonomous systems. By employing mathematically rigorous techniques, formal methods can provide fully automated reasoning processes with provable safety guarantees…
Controller synthesis, including reset controller, feedback controller, and switching logic controller, provides an essential mechanism to guarantee the correctness and reliability of hybrid systems in a correct-by-construction manner.…
Autonomous vehicles can enhance overall performance and implement safety measures in ways that are impossible with conventional automobiles. These functions are executed through vehicle control systems, which have been the subject of…
Verified controller synthesis uses world models that comprise all potential behaviours of humans, robots, further equipment, and the controller to be synthesised. A world model enables quantitative risk assessment, for example, by…
In this article, the problem of synthesizing switching controllers is considered through the synthesis of a "control certificate". Control certificates include control barrier and Lyapunov functions, which represent control strategies, and…
To make safe transitions from autonomous to manual control, a vehicle must have a representation of the awareness of driver state; two metrics which quantify this state are the Observable Readiness Index and Takeover Time. In this work, we…
The inherent uncertainty of dynamic environments poses significant challenges for modeling robot behavior, particularly in tasks such as collision avoidance. This paper presents an online controller synthesis framework tailored for robots…
In this work, we investigate the data-driven safe control synthesis problem for unknown dynamic systems. We first formulate the safety synthesis problem as a robust convex program (RCP) based on notion of control barrier function. To…
In this paper, we consider a multi-objective control problem for stochastic systems that seeks to minimize a cost of interest while ensuring safety. We introduce a novel measure of safety risk using the conditional value-at-risk and a set…