Related papers: Type-Based Verification of Delegated Control in Hy…

We apply program verification technology to the problem of specifying and verifying automatic differentiation (AD) algorithms. We focus on define-by-run, a style of AD where the program that must be differentiated is executed and monitored…

Hybrid dynamical systems with nonlinear dynamics are one of the most general modeling tools for representing robotic systems, especially contact-rich systems. However, providing guarantees regarding the safety or performance of nonlinear…

This paper presents Verisig, a hybrid system approach to verifying safety properties of closed-loop systems using neural networks as controllers. Although techniques exist for verifying input/output properties of the neural network itself,…

We provide a tutorial introduction to reachability computation, a class of computational techniques that exports verification technology toward continuous and hybrid systems. For open under-determined systems, this technique can sometimes…

Control systems on unmanned vehicles are safety-critical systems whose requirements on reliability and safety are ever-increasing. Currently, testing a complex autonomous control system is an expensive and time-consuming process, which…

This paper is a survey of extensions to finite automata theory to model real-time systems as well as systems exhibiting mixed discrete-continuous behavior. Real-time systems maintain a continuous and timely interaction with the environment,…

Despite the fact that robotic platforms can provide both consistent practice and objective assessments of users over the course of their training, there are relatively few instances where physical human robot interaction has been…

In this paper, we consider the problem of verifying pre-opacity for discrete-time control systems. Pre-opacity is an important information-flow security property that secures the intention of a system to execute some secret behaviors in the…

Computer-Controlled Systems (CCS) are a subclass of hybrid systems where the periodic relation of control components to time is paramount. Since they additionally are at the heart of many safety-critical devices, it is of primary importance…

A standard motion control with feedback of the output displacement cannot handle unforeseen contact with environment without penetrating into the soft, i.e. viscoelastic, materials or even damaging the fragile materials. Robotics and…

This paper investigates a distributed formation tracking control law for large-scale networks of mechanical systems. In particular, the formation network is represented by a directed communication graph with leaders and followers, where…

Gas Transmission Networks are large-scale complex systems, and corresponding design and control problems are challenging. In this paper, we consider the problem of control and management of these systems in crisis situations. We present…

We study the problem of target stabilization with robust obstacle avoidance in robots and vehicles that have access only to vision-based sensors for the purpose of realtime localization. This problem is particularly challenging due to the…

Contact-rich manipulation demands human-like integration of perception and force feedback: vision should guide task progress, while high-frequency interaction control must stabilize contact under uncertainty. Existing learning-based…

We propose automated techniques for the verification and control of probabilistic real-time systems that are only partially observable. To formally model such systems, we define an extension of probabilistic timed automata in which local…

In this paper, we presented a new method for deformation control of deformable objects, which utilizes both visual and tactile feedback. At present, manipulation of deformable objects is basically formulated by assuming positional…

A distributed cooperative control law for persistent coverage tasks is proposed, capable of coordinating a team of heterogeneous agents in a structured environment. Team heterogeneity is considered both at vehicles' dynamics and at coverage…

This paper develops a decentralized approach to mobile sensor coverage by a multi-robot system. We consider a scenario where a team of robots with limited sensing range must position itself to effectively detect events of interest in a…

With the growing share of renewable energy sources, the uncertainty in power supply is increasing. In addition to the inherent fluctuations in the renewables, this is due to the threat of deliberate malicious attacks, which may become more…

Future advanced driver assistance systems and autonomous vehicles rely on accurate localization, which can be divided into three classes: a) viewpoint localization about local references (e.g., via vision-based localization), b) absolute…