Related papers: Barrier-Based Test Synthesis for Safety-Critical S…
In this paper, we present an approach for designing correct-by-design controllers for cyber-physical systems composed of multiple dynamically interconnected uncertain systems. We consider networked discrete-time uncertain nonlinear systems…
We show that given a desired closed-loop response for a system, there exists an affine subspace of controllers that achieve this response. By leveraging the existence of this subspace, we are able to separate controller design from…
A shield is attached to a system to guarantee safety by correcting the system's behavior at runtime. Existing methods that employ design-time synthesis of shields do not scale to multi-agent systems. Moreover, such shields are typically…
In this paper, we provide a direct data-driven approach to synthesize safety controllers for unknown linear systems affected by unknown-but-bounded disturbances, in which identifying the unknown model is not required. First, we propose a…
Safety-critical systems must always have predictable and reliable behavior, otherwise systems fail and lives are put at risk. Even with the most rigorous testing it is impossible to test systems using all possible inputs. Complex software…
A modern approach to engineering correct-by-construction systems is to synthesize them automatically from formal specifications. Oftentimes, a system can only satisfy its guarantees if certain environment assumptions hold, which motivates…
The objective of this paper is to solve the controller synthesis problem for bisimulation equivalence in a wide variety of scenarios including discrete-event systems, nonlinear control systems, behavioral systems, hybrid systems and many…
This paper studies the control of safety-critical dynamical systems in the presence of adversarial disturbances. We seek to synthesize state-feedback controllers to minimize a cost incurred due to the disturbance, while respecting a safety…
Applications that require multi-robot systems to operate independently for extended periods of time in unknown or unstructured environments face a broad set of challenges, such as hardware degradation, changing weather patterns, or…
Traditional reachability methods provide formal guarantees of safety under bounded disturbances. However, they strictly enforce state constraints as inviolable, which can result in overly conservative or infeasible solutions in complex…
A safe controller for multicopter is proposed using control barrier function. Multicopter dynamics are reformulated to deal with mixed-relative-degree and non-strict-feedback-form dynamics, and a time-varying safe backstepping controller is…
In this paper, we consider the problem of synthesizing a controller in the presence of uncertainty such that the resulting closed-loop system satisfies certain hard constraints while optimizing certain (soft) performance objectives. We…
Control synthesis under constraints is at the forefront of research on autonomous systems, in part due to its broad application from low-level control to high-level planning, where computing control inputs is typically cast as a constrained…
This paper presents a safety-critical control framework to maintain bounded lateral motions for vehicles braking on asymmetric surfaces. We synthesize a brake controller that assists drivers and guarantees safety against excessive lateral…
This paper is concerned with a compositional scheme for the construction of control barrier certificates for interconnected discrete-time stochastic systems. The main objective is to synthesize switching control policies against…
Stability and safety are crucial in safety-critical control of dynamical systems. The reach-avoid-stay objectives for deterministic dynamical systems can be effectively handled by formal methods as well as Lyapunov methods with soundness…
This paper addresses the quantitative verification of finite-time constrained occupation time for stochastic continuous-time systems governed by stochastic differential equations (SDEs). Unlike classical reachability analysis, which focuses…
A classic reachability problem for safety of dynamic systems is to compute the set of initial states from which the state trajectory is guaranteed to stay inside a given constraint set over a given time horizon. In this paper, we leverage…
Control Barrier Functions (CBFs) have been widely utilized in the design of optimization-based controllers and filters for dynamical systems to ensure forward invariance of a given set of safe states. While CBF-based controllers offer…
In this paper, we propose a novel Control Barrier Function (CBF) based controller for nonlinear systems with complex, time-varying input constraints. To deal with these constraints, we introduce an auxiliary control input to transform the…