Related papers: Sampling based Computation of Viability Domain to …

A common problem when using model predictive control (MPC) in practice is the satisfaction of safety specifications beyond the prediction horizon. While theoretical works have shown that safety can be guaranteed by enforcing a suitable…

Computer networks are undergoing a phenomenal growth, driven by the rapidly increasing number of nodes constituting the networks. At the same time, the number of security threats on Internet and intranet networks is constantly growing, and…

This paper presents an algorithm to apply nonlinear control design approaches in the case of stochastic systems with partial state observation. Deterministic nonlinear control approaches are formulated under the assumption of full state…

We present a novel technique for online safety verification of autonomous systems, which performs reachability analysis efficiently for both bounded and unbounded horizons by employing neural barrier certificates. Our approach uses barrier…

Recent successes in reinforcement learning have lead to the development of complex controllers for real-world robots. As these robots are deployed in safety-critical applications and interact with humans, it becomes critical to ensure…

Reachability analysis is at the core of many applications, from neural network verification, to safe trajectory planning of uncertain systems. However, this problem is notoriously challenging, and current approaches tend to be either too…

In this paper we consider the possibility to use numerical simulations for a computer assisted analysis of integrability of dynamical systems. We formulate a rather general method of recovering the obstruction to integrability for the…

Nonlinear, adaptive, or otherwise complex control techniques are increasingly relied upon to ensure the safety of systems operating in uncertain environments. However, the nonlinearity of the resulting closed-loop system complicates…

Safety is a critical property for control systems in medicine, transportation, manufacturing, and other applications, and can be defined as ensuring positive invariance of a predefined safe set. This paper investigates the problems of…

This paper considers the problem of designing a continuous-time dynamical system that solves a constrained nonlinear optimization problem and makes the feasible set forward invariant and asymptotically stable. The invariance of the feasible…

This paper presents a secure safety filter design for nonlinear systems under sensor spoofing attacks. Existing approaches primarily focus on linear systems which limits their applications in real-world scenarios. In this work, we extend…

Before autonomous systems can be deployed in safety-critical applications, we must be able to understand and verify the safety of these systems. For cases where the risk or cost of real-world testing is prohibitive, we propose a…

This paper develops a physics-informed scenario approach for safety verification of nonlinear systems using barrier certificates (BCs) to ensure that system trajectories remain within safe regions over an infinite time horizon. Designing…

For a nonlinear stochastic path planning problem, sampling-based algorithms generate thousands of random sample trajectories to find the optimal path while guaranteeing safety by Lagrangian penalty methods. However, the sampling-based…

Providing finite-time probabilistic safety and reach-avoid guarantees is crucial for safety-critical stochastic systems. Existing state-of-the-art barrier methods often rely on a restrictive boundedness assumption for auxiliary functions,…

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 paper, we revisit the formal verification problem for stochastic dynamical systems over finite horizon using barrier certificates. Most existing work on this topic focuses on safety properties by constructing barrier certificates…

This paper proposes a framework for secure and resilient controller design for positive systems against cyber-attacks. In particular, we consider a network-controlled system where an adversary injects false data into the actuator channels…

We address the problem of detecting and mitigating the effect of malicious attacks to the sensors of a linear dynamical system. We develop a novel, efficient algorithm that uses a Satisfiability-Modulo-Theory approach to isolate the…

Nowadays, many control systems are networked and embed communication and computation capabilities. Such control architectures are prone to cyber attacks on the cyberinfrastructure. Consequently, there is an impellent need to develop…