Related papers: Fast Verification of Control Barrier Functions via…
The paper proposes a control-theoretic framework for verification of numerical software systems, and puts forward software verification as an important application of control and systems theory. The idea is to transfer Lyapunov functions…
Array-intensive programs are often amenable to parallelization across many cores on a single machine as well as scaling across multiple machines and hence are well explored, especially in the domain of high-performance computing. These…
The paper proposes a control-theoretic framework for verification of numerical software systems, and puts forward software verification as an important application of control and systems theory. The idea is to transfer Lyapunov functions…
Discrete-time Control Barrier Functions (DTCBFs) have recently attracted interest for guaranteeing safety and synthesizing safe controllers for discrete-time dynamical systems. This paper addresses the open challenges of verifying candidate…
Formally verifying properties of programs that manipulate arrays in loops is computationally challenging. In this paper, we focus on a useful class of such programs, and present a novel property-driven verification method that first infers…
We present necessary and sufficient conditions for the termination of linear homogeneous programs. We also develop a complete method to check termination for this class of programs. Our complete characterization of termination for such…
Safety requirements in dynamical systems are commonly enforced with set invariance constraints over a safe region of the state space. Control barrier functions, which are Lyapunov-like functions for guaranteeing set invariance, are an…
Control barrier functions (CBFs) are a powerful tool for the constrained control of nonlinear systems; however, the majority of results in the literature focus on systems subject to a single CBF constraint, making it challenging to…
Neural networks offer a computationally efficient approximation of model predictive control, but they lack guarantees on the resulting controlled system's properties. Formal certification of neural networks is crucial for ensuring safety,…
A predictive control barrier function (PCBF) based safety filter is a modular framework to verify safety of a control input by predicting a future trajectory. The approach relies on the solution of two optimization problems, first computing…
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…
We address the problem of statically checking safety properties (such as assertions or deadlocks) for parameterized phaser programs. Phasers embody a non-trivial and modern synchronization construct used to orchestrate executions of…
This paper studies the problem of finite-time convergence to a prescribed safe set for nonlinear systems whose initial states violate the safety constraints. Existing Control Lyapunov-Barrier Functions (CLBFs) can enforce recovery to the…
Safety filters based on control barrier functions (CBFs) and high-order control barrier functions (HOCBFs) are often implemented through quadratic programs (QPs). In general, especially in the presence of multiple constraints, feasibility…
This paper studies the problem of enforcing safety of a stochastic dynamical system over a finite time horizon. We use stochastic barrier functions as a means to quantify the probability that a system exits a given safe region of the state…
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…
Two subsets of a given set are path-disconnected if they lie in different connected components of the larger set. Verification of path-disconnectedness is essential in proving the infeasibility of motion planning and trajectory optimization…
Control invariant sets play an important role in safety-critical control and find broad application in numerous fields such as obstacle avoidance for mobile robots. However, finding valid control invariant sets of dynamical systems under…
Efficient implementations of concurrent objects such as atomic collections are essential to modern computing. Programming such objects is error prone: in minimizing the synchronization overhead between concurrent object invocations, one…
We present a method for verifying partial correctness properties of imperative programs that manipulate integers and arrays by using techniques based on the transformation of constraint logic programs (CLP). We use CLP as a metalanguage for…