Related papers: Co-Buchi Barrier Certificates for Discrete-time Dy…
In 1983, Brockett developed a topological necessary condition for the existence of continuous, asymptotically stabilizing control laws. Building upon recent work on necessary conditions for set stabilization, we develop Brockett-like…
Barrier functions (also called certificates) have been an important tool for the verification of hybrid systems, and have also played important roles in optimization and multi-objective control. The extension of a barrier function to a…
Guaranteeing safety for robotic and autonomous systems in real-world environments is a challenging task that requires the mitigation of stochastic uncertainties. Control barrier functions have, in recent years, been widely used for…
This paper presents a new approach for guaranteed safety subject to input constraints (e.g., actuator limits) using a composition of multiple control barrier functions (CBFs). First, we present a method for constructing a single CBF from…
In this paper we present a novel model checking approach to finite-time safety verification of black-box continuous-time dynamical systems within the framework of probably approximately correct (PAC) learning. The black-box dynamical…
Control barrier functions (CBFs) provide a simple yet effective way for safe control synthesis. Recently, work has been done using differentiable optimization (diffOpt) based methods to systematically construct CBFs for static obstacle…
Black-box checking (BBC)} is a testing method for cyber-physical systems (CPSs) as well as software systems. BBC consists of active automata learning and model checking; a Mealy machine is learned from the system under test (SUT), and the…
Control barrier functions (CBFs) have seen widespread success in providing forward invariance and safety guarantees for dynamical control systems. A crucial limitation of discrete-time formulations is that CBFs that are nonconcave in their…
The imposition of real-time constraints on a parallel computing environment- specifically high-performance, cluster-computing systems- introduces a variety of challenges with respect to the formal verification of the system's timing…
We propose integrating an approximation of a predictive control barrier function (PCBF) in a safety filter framework, resulting in a prediction horizon independent formulation. The PCBF is defined through the value function of an optimal…
Timed automata (TAs) are a common formalism for modeling timed systems. Bounded model checking (BMC) is a verification method that searches for runs violating a property using a SAT or SMT solver. MITL is a real-time extension of the linear…
Many problems in interprocedural program analysis can be modeled as the context-free language (CFL) reachability problem on graphs and can be solved in cubic time. Despite years of efforts, there are no known truly sub-cubic algorithms for…
Safety is always one of the most critical principles for a system to be controlled. This paper investigates a safety-critical control scheme for unknown structured systems by using the control barrier function (CBF) method. Benefited from…
The goal of this paper is certifying safety of dynamical systems subject to uncertainty. Existing approaches use trajectory data to estimate transition probabilities, and compute safety probabilities recursively via dynamic programming…
Control barrier functions (CBFs) are important in safety-critical systems and robot control applications. Neural networks have been used to parameterize and synthesize CBFs with bounded control input for complex systems. However, it is…
In collaborative human-robot environments, the unpredictable and dynamic nature of human motion can lead to situations where collisions become unavoidable. In such cases, it is essential for the robotic system to proactively mitigate…
We propose an adversarial, time-varying test-synthesis procedure for safety-critical systems without requiring specific knowledge of the underlying controller steering the system. From a broader test and evaluation context, determination of…
In goal-oriented requirement engineering, boundary conditions(BC) are used to capture the divergence of goals, i.e., goals cannot be satisfied as a whole in some circumstances. As the goals are formally described by temporal logic, solving…
This paper takes a step towards addressing the difficulty of constructing Control Barrier Functions (CBFs) for parallel safety boundaries. A single CBF for both boundaries has been reported to be difficult to validate for safety, and we…
This paper presents a safe controller synthesis of discrete-time stochastic systems using Control Barrier Functions (CBFs). The proposed condition allows the design of a safe controller synthesis that ensures system safety while avoiding…