Related papers: Reachability Verification for Stochastic Discrete-…
The hybrid optimal control problem with reach time to a target set is addressed and the continuity and uniqueness of the associated value function is proved. Hybrid systems involves interaction of different types of dynamics: continuous and…
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…
We study the safety verification problem for discrete-time stochastic systems. We propose an approach for safety verification termed set-erosion strategy that verifies the safety of a stochastic system on a safe set through the safety of…
Learning-based approaches for controlling safety-critical systems are rapidly growing in popularity; thus, it is important to assure their performance and safety. Hamilton-Jacobi (HJ) reachability analysis is a popular formal verification…
It is ``folklore'' that the solution to a set reachability problem for a dynamical system is only noncomputable because of non-robustness reasons. A robustness condition that can be imposed on a dynamical system is the requirement of the…
Uncertainty propagation in non-linear dynamical systems has become a key problem in various fields including control theory and machine learning. In this work we focus on discrete-time non-linear stochastic dynamical systems. We present a…
The paper presents a methodology for temporal logic verification of continuous-time switched stochastic systems. Our goal is to find the lower bound on the probability that a complex temporal property is satisfied over a finite time…
Output-Feedback Stochastic Model Predictive Control based on Stochastic Optimal Control for nonlinear systems is computationally intractable because of the need to solve a Finite Horizon Stochastic Optimal Control Problem. However, solving…
One often wishes for the ability to formally analyze large-scale systems---typically, however, one can either formally analyze a rather small system or informally analyze a large-scale system. This work tries to further close this…
Reachable sets for a dynamical system describe collections of system states that can be reached in finite time, subject to system dynamics. They can be used to guarantee goal satisfaction in controller design or to verify that unsafe…
In this paper, we describe a novel approach for checking safety specifications of a dynamical system with exogenous inputs over infinite time horizon that is guaranteed to terminate in finite time with a conclusive answer. We introduce the…
This work introduces a stochastic model predictive control scheme for dynamic chance constraints. We consider linear discrete-time systems affected by unbounded additive stochastic disturbance. To synthesize an optimal controller, we solve…
This paper considers the problem of reachability analysis of control systems with optimal controllers, as a first step towards verifying the safety and correctness of such systems. Despite their appeal in guaranteeing task satisfaction…
This paper proposes a proof of stability for Model Predictive Control formulations involving a prediction horizon that might be too short to meet the reachability condition generally invoked as a sufficient condition for closed-loop…
We consider a Markov control model in discrete time with countable both state space and action space. Using the value function of a suitable long-run average reward problem, we study various reachability/controllability problems. First, we…
Reachability analysis has been a prominent way to provide safety guarantees for neurally controlled autonomous systems, but its direct application to neural perception components is infeasible due to imperfect or intractable perception…
Regular model checking is a well-established technique for the verification of regular transition systems (RTS): transition systems whose initial configurations and transition relation can be effectively encoded as regular languages. In…
A constant-rate multi-mode system is a hybrid system that can switch freely among a finite set of modes, and whose dynamics is specified by a finite number of real-valued variables with mode-dependent constant rates. Alur, Wojtczak, and…
In this paper we propose a stochastic model predictive control (MPC) algorithm for linear discrete-time systems affected by possibly unbounded additive disturbances and subject to probabilistic constraints. Constraints are treated in…
Hamilton-Jacobi (HJ) reachability analysis is an important formal verification method for guaranteeing performance and safety properties of dynamical systems; it has been applied to many small-scale systems in the past decade. Its…