Related papers: Linear Temporal Logic Satisfaction in Adversarial …
In this paper, a method to synthesize controllers using finite time convergence control barrier functions guided by linear temporal logic specifications for continuous time multi-agent dynamical systems is proposed. Finite time convergence…
The problem of safely learning and controlling a dynamical system - i.e., of stabilizing an originally (partially) unknown system while ensuring that it does not leave a prescribed 'safe set' - has recently received tremendous attention in…
The increasing use of machine learning in safety-critical domains amplifies the risk of adversarial threats, especially data poisoning attacks that corrupt training data to degrade performance or induce unsafe behavior. Most existing…
This paper considers the safety-critical navigation problem with Signal Temporal Logic (STL) tasks. We developed an explicit reference governor-guided control barrier function (ERG-guided CBF) method that enables the application of…
In this paper, we propose a data-driven approach to formally verify the safety of (potentially) unknown discrete-time continuous-space stochastic systems. The proposed framework is based on a notion of barrier certificates together with…
This work develops a theoretical framework for safety controller synthesis in discrete-time stochastic nonlinear polynomial systems subject to time-invariant delays (dt-SNPS-td). While safety analysis of stochastic systems using control…
Tractable safety-ensuring algorithms for cyber-physical systems are important in critical applications. Approaches based on Control Barrier Functions assume continuous enforcement, which is not possible in an online fashion. This paper…
In this paper we consider the safety verification and safe controller synthesis problems for nonlinear control systems. The Control Barrier Certificates (CBC) approach is proposed as an extension to the Barrier certificates approach. Our…
Many Cyber Physical System (CPS) work in a safety-critical environment, where correct execution, reliability and trustworthiness are essential. Signal Temporal Logic (STL) provides a formal framework for checking safety-critical CPS.…
Safety filters based on Control Barrier Functions (CBFs) provide formal guarantees of forward invariance, but are often difficult to implement in networked dynamical systems. This is due to global coupling and communication requirements.…
This paper introduces a new framework for synthesizing time-varying control barrier functions (TV-CBFs) for general Signal Temporal Logic (STL) specifications using spatiotemporal tubes (STT). We first formulate the STT synthesis as a…
Control systems operating in the real world face countless sources of unpredictable uncertainties. These random disturbances can render deterministic guarantees inapplicable and cause catastrophic safety failures. To overcome this, this…
This paper offers a direct data-driven approach for learning robust control barrier certificates (R-CBCs) and robust safety controllers (R-SCs) for discrete-time input-affine polynomial systems with unknown dynamics under…
This paper studies provable security guarantees for cyber-physical systems (CPS) under actuator attacks. In particular, we consider CPS safety and propose a new attack detection mechanism based on zeroing control barrier function (ZCBF)…
Signal Temporal Logic (STL) is a widely recognized formal specification language to express rigorous temporal requirements on mixed analog signals produced by cyber-physical systems (CPS). A relevant problem in CPS design is how to…
In this work, we address the problem of formal safety verification for stochastic cyber-physical systems (CPS) equipped with ReLU neural network (NN) controllers. Our goal is to find the set of initial states from where, with a…
This paper presents a safe controller synthesis of discrete-time stochastic systems using Control Barrier Functions (CBFs). The proposed condition allows the design of a safe controller synthesis that ensures system safety while avoiding…
In this work, we consider the problem of designing a safety filter for a nonlinear uncertain control system. Our goal is to augment an arbitrary controller with a safety filter such that the overall closed-loop system is guaranteed to stay…
In this draft article, we consider the problem of achieving safe control of a dynamic system for which the safety index or (control barrier function (loosely)) has relative degree equal to two. We consider parameter affine nonlinear dynamic…
For a class of spatio-temporal tasks defined by a fragment of Signal Temporal Logic (STL), we construct a nonsmooth time-varying control barrier function (CBF) and develop a controller based on a set of simple optimization problems. Each of…