Related papers: Parameter-Conditioned Reachable Sets for Updating …
Reach-avoid (RA) games have significant applications in security and defense, particularly for unmanned aerial vehicles (UAVs). These problems are inherently challenging due to the need to consider obstacles, consider the adversarial nature…
Existing definitions and associated conceptual frameworks for computer-based system safety should be revisited in light of real-world experiences from deploying autonomous vehicles. Current terminology used by industry safety standards…
Density of the reachable states can help understand the risk of safety-critical systems, especially in situations when worst-case reachability is too conservative. Recent work provides a data-driven approach to compute the density…
Inspired by distributed applications that use consensus or other agreement protocols for global coordination, we define a new computational model for parameterized systems that is based on a general global synchronization primitive and…
This work presents a method of efficiently computing inner and outer approximations of forward reachable sets for nonlinear control systems with changed dynamics and diminished control authority, given an a priori computed reachable set for…
A fundamental concern in progressing Airborne Wind Energy (AWE) operations towards commercial success, is guaranteeing that safety requirements placed on the systems are met. Due to the high dimensional complexity of AWE systems, however,…
In continuous-time optimal control, evaluating the Hamiltonian requires solving a constrained optimization problem using the system's dynamics model. Hamilton-Jacobi reachability analysis for safety verification has demonstrated practical…
Ensuring safety is important for the practical deployment of reinforcement learning (RL). Various challenges must be addressed, such as handling stochasticity in the environments, providing rigorous guarantees of persistent state-wise…
Provably safe and scalable multi-vehicle path planning is an important and urgent problem due to the expected increase of automation in civilian airspace in the near future. Hamilton-Jacobi (HJ) reachability is an ideal tool for analyzing…
A new framework for formulating reachability problems with competing inputs, nonlinear dynamics and state constraints as optimal control problems is developed. Such reach-avoid problems arise in, among others, the study of safety problems…
Precise manipulation tasks require accurate knowledge of payload inertial parameters. Unfortunately, identifying these parameters for unknown payloads while ensuring that the robotic system satisfies its input and state constraints while…
The assurance of real-time properties is prone to context variability. Providing such assurance at design time would require to check all the possible context and system variations or to predict which one will be actually used. Both cases…
We consider systems composed of an unbounded number of uniformly designed linear hybrid automata, whose dynamic behavior is determined by their relation to neighboring systems. We present a class of such systems and a class of safety…
Authentication is crucial to confirm that an individual or entity trying to perform an action is actually who or what they claim to be. In dynamic environments such as the Internet of Things (IoT), Internet of Vehicles (IoV), healthcare,…
Control applications for cyber-physical systems must make reliably safe control decisions in the presence of continuous dynamics as well as stochastic uncertainty. Providing safety guarantees for such systems requires formal modeling and…
Reachability analysis plays a central role in system design and verification. The reachability problem, denoted $\Diamond^J\,\Phi$, asks whether the system will meet the property $\Phi$ after some time in a given time interval $J$.…
Modern systems are designed to operate in increasingly variable and uncertain environments. Not only are these environments complex, in the sense that they contain a tremendous number of variables, but they also change over time. Systems…
This paper studies the security of cyber-physical systems under attacks. Our goal is to design system parameters, such as a set of initial conditions and input bounds so that it is secure by design. To this end, we propose new sufficient…
To verify the correct operation of systems, engineers need to determine the set of configurations of a dynamical model that are able to safely reach a specified configuration under a control law. Unfortunately, constructing models for…
Security-critical system requirements are increasingly enforced through mandatory access control systems. These systems are controlled by security policies, highly sensitive system components, which emphasizes the paramount importance of…