Related papers: A Pattern-based deadlock-freedom analysis strategy…
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…
Scalable formal verification constitutes an important challenge for the design of asynchronous circuits. Deadlock freedom is a property that is desired but hard to verify. It is an emergent property that has to be verified monolithically.…
This paper considers robust stability analysis of a large network of interconnected uncertain systems. To avoid analyzing the entire network as a single large, lumped system, we model the network interconnections with integral quadratic…
We present a decentralized, agent agnostic, and safety-aware control framework for human-robot collaboration based on Virtual Model Control (VMC). In our approach, both humans and robots are embedded in the same virtual-component-shaped…
We propose SLAMFuse, an open-source SLAM benchmarking framework that provides consistent crossplatform environments for evaluating multi-modal SLAM algorithms, along with tools for data fuzzing, failure detection, and diagnosis across…
Inter-robot loop closure detection, e.g., for collaborative simultaneous localization and mapping (CSLAM), is a fundamental capability for many multirobot applications in GPS-denied regimes. In real-world scenarios, this is a…
Background Nucleotide sequences contain multiple codes responsible for organism's functioning and structure. They can be investigated by various signal processing methods. These techniques are well suited for indication of frequently…
Many correct-by-construction control synthesis methods suffer from the curse of dimensionality. Motivated by this challenge, we seek to reduce a correct-by-construction control synthesis problem to subproblems of more modest dimension. As a…
Dissipativity is an input-output (IO) characterization of nonlinear systems that enables compositional robust control through Vidyasagar's Network Dissipativity Theorem (VDNT). However, determining the dissipativity of a system is an…
Distributed algorithms have many mission-critical applications ranging from embedded systems and replicated databases to cloud computing. Due to asynchronous communication, process faults, or network failures, these algorithms are difficult…
We present a deductive approach for the analysis of secure information flows with support for fine-grained policies that include declassifications in the form of delimited information release. By explicitly tracking the dependencies of…
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…
We tackle the challenge of ensuring the deadlock-freedom property for message-passing processes that communicate asynchronously in cyclic process networks. Our contributions are twofold. First, we present Asynchronous Priority-based…
We refine an old idea for performing fault-tolerant error correction in topological codes by simulating confining interactions between excitations. We implement confinement using an array of local classical processors that measure…
We present an example of the practical implementation of a protocol for experimental bifurcation detection based on on-line identification and feedback control ideas. The idea is to couple the experiment with an on-line computer-assisted…
The implementation of optimization-based motion coordination approaches in real world multi-agent systems remains challenging due to their high computational complexity and potential deadlocks. This paper presents a distributed model…
We present a method for the automated verification of temporal properties of infinite state systems. Our verification method is based on the specialization of constraint logic programs (CLP) and works in two phases: (1) in the first phase,…
We introduce a technique to detect and quantify local functional dependencies between coupled chaotic systems. The method estimates the fraction of locally syncronized configurations, in a pair of signals with an arbitrary state of global…
Local Fourier analysis is a useful tool for predicting and analyzing the performance of many efficient algorithms for the solution of discretized PDEs, such as multigrid and domain decomposition methods. The crucial aspect of local Fourier…
In this paper, we propose a general method for testing composite hypotheses. Our idea is to use confidence limits to define stopping and decision rules. The requirements of operating characteristic function can be satisfied by adjusting the…