Related papers: A Barrier Certificate-based Simplex Architecture f…
We develop an open-source software tool, called PRoTECT, for the parallelized construction of safety barrier certificates (BCs) for nonlinear polynomial systems. This tool employs sum-of-squares (SOS) optimization programs to systematically…
We present the Neural Simplex Architecture (NSA), a new approach to runtime assurance that provides safety guarantees for neural controllers (obtained e.g. using reinforcement learning) of autonomous and other complex systems without unduly…
Training-time safety violations have been a major concern when we deploy reinforcement learning algorithms in the real world. This paper explores the possibility of safe RL algorithms with zero training-time safety violations in the…
Challenges in the discrete implementation of sliding-mode controllers (SMC) with barrier-function-based adaptations are analyzed, revealing fundamental limitations in conventional design frameworks. It is shown that under uniform sampling,…
Safety in terms of collision avoidance for multi-robot systems is a difficult challenge under uncertainty, non-determinism and lack of complete information. This paper aims to propose a collision avoidance method that accounts for both…
Various techniques have been used in recent years for verifying quantum computers, that is, for determining whether a quantum computer/system satisfies a given formal specification of correctness. Barrier certificates are a recent novel…
In this letter, we detail our randomized approach to safety-critical system verification. Our method requires limited system data to make a strong verification statement. Specifically, our method first randomly samples initial conditions…
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…
This paper studies the design of controllers for discontinuous dynamics that ensure the safety of non-smooth sets. The safe set is represented by arbitrarily nested unions and intersections of 0-superlevel sets of differentiable functions.…
This letter presents a closed-form solution of Control Barrier Function (CBF) framework for enforcing safety constraints on a Stewart robotic platform. The proposed method simultaneously handles multiple position and velocity constraints…
This paper considers the optimal control for hybrid systems whose trajectories transition between distinct subsystems when state-dependent constraints are satisfied. Though this class of systems is useful while modeling a variety of…
We study the problem of co-designing control barrier functions and linear state feedback controllers for discrete-time linear systems affected by additive disturbances. For disturbances of bounded magnitude, we provide a semi-definite…
We present SHIELD, a hierarchical algorithm that reduces both the decision-variable dimension and the constraint set in $\ell_1$-regularized convex programs. From strong convexity and Lagrangian duality, we derive certificates that…
Autonomous vehicles face tremendous challenges while interacting with human drivers in different kinds of scenarios. Developing control methods with safety guarantees while performing interactions with uncertainty is an ongoing research…
This paper introduces a method of identifying a maximal set of safe strategies from data for stochastic systems with unknown dynamics using barrier certificates. The first step is learning the dynamics of the system via Gaussian process…
Piecewise Barrier Tubes (PBT) is a new technique for flowpipe overapproximation for nonlinear systems with polynomial dynamics, which leverages a combination of barrier certificates. PBT has advantages over traditional time-step based…
Control barrier functions (CBFs) have seen widespread success in providing forward invariance and safety guarantees for dynamical control systems. A crucial limitation of discrete-time formulations is that CBFs that are nonconcave in their…
This paper focuses on synthesizing control policies for discrete-time stochastic control systems together with a lower bound on the probability that the systems satisfy the complex temporal properties. The desired properties of the system…
Multi-objective safety-critical control entails a diligent design to avoid possibly conflicting scenarios and ensure safety. This paper addresses multi-objective safety-critical control through a novel approach utilizing barrier states…
This paper considers the general problem of transitioning theoretically safe controllers to hardware. Concretely, we explore the application of control barrier functions (CBFs) to sampled-data systems: systems that evolve continuously but…