Related papers: Co-Buchi Barrier Certificates for Discrete-time Dy…
Ensuring the safety of control systems often requires the satisfaction of constraints on states (such as position or velocity), control inputs (such as force), and a mixture of states and inputs (such as power that depends on both velocity…
The problem of safely learning and controlling a dynamical system - i.e., of stabilizing an originally (partially) unknown system while ensuring that it does not leave a prescribed 'safe set' - has recently received tremendous attention in…
The increasing complexity of control systems necessitates control laws that guarantee safety w.r.t. complex combinations of constraints. In this letter, we propose a framework to describe compositional safety specifications with control…
For exhaustive formal verification, industrial-scale cyber-physical systems (CPSs) are often too large and complex, and lightweight alternatives (e.g., monitoring and testing) have attracted the attention of both industrial practitioners…
Certifying verification algorithms not only return whether a given property holds or not, but also provide an accompanying independently checkable certificate and a corresponding witness. The certificate can be used to easily validate the…
Model checkers use automated state exploration in order to prove various properties such as reachability, non-reachability, and bisimulation over state transition systems. While model checkers have proved valuable for locating errors in…
Control Barrier Functions (CBF) have provided a very versatile framework for the synthesis of safe control architectures for a wide class of nonlinear dynamical systems. Typically, CBF-based synthesis approaches apply to systems that…
While learning-based control techniques often outperform classical controller designs, safety requirements limit the acceptance of such methods in many applications. Recent developments address this issue through so-called predictive safety…
Control Barrier Functions (CBFs) aim to ensure safety by constraining the control input at each time step so that the system state remains within a desired safe region. This paper presents a framework for CBFs in stochastic systems in the…
Timed automata are a common formalism for the verification of concurrent systems subject to timing constraints. They extend finite-state automata with clocks, that constrain the system behavior in locations, and to take transitions. While…
Control barrier function (CBF)-based methods provide the minimum modification necessary to formally guarantee safety in the context of quadratic programming, and strict safety guarantee for safety critical systems. However, most CBF-related…
Finding a controlled-invariant set for a system with state and control constraints is crucial for safety-critical applications. However, existing methods often produce overly conservative solutions. This paper presents a method for…
Neural certificates have emerged as a powerful tool in cyber-physical systems control, providing witnesses of correctness. These certificates, such as barrier functions, often learned alongside control policies, once verified, serve as…
This tutorial provides a critical review of the practical application of Control Barrier Functions (CBFs) in robotic safety. While the theoretical foundations of CBFs are well-established, I identify a recurring gap between the mathematical…
The optimal performance of robotic systems is usually achieved near the limit of state and input bounds. Model predictive control (MPC) is a prevalent strategy to handle these operational constraints, however, safety still remains an open…
We present a new approach to conformance testing of black-box reactive systems. We consider system specifications written as linear temporal logic formulas to generate tests as sequences of input/output pairs: inputs are extracted from the…
The increasing use of machine learning in safety-critical domains amplifies the risk of adversarial threats, especially data poisoning attacks that corrupt training data to degrade performance or induce unsafe behavior. Most existing…
In this work, we propose a data-driven scheme within a compositional framework with noisy data to design robust safety controllers in a fully decentralized fashion for large-scale interconnected networks with unknown mathematical dynamics.…
This paper studies provable security guarantees for cyber-physical systems (CPS) under actuator attacks. In particular, we consider CPS safety and propose a new attack detection mechanism based on zeroing control barrier function (ZCBF)…
In safety-critical control systems, ensuring both system safety and smooth control input is essential for practical deployment. Existing Control Barrier Function (CBF) frameworks, especially High-Order CBFs (HOCBFs), effectively enforce…