Related papers: Hybrid Rebeca Revisited
Critical real-world applications strongly rely on Cyber-physical systems (CPS), but their dependence on communication networks introduces significant security risks, as attackers can exploit vulnerabilities to compromise their integrity and…
Complex manipulation tasks, such as rearrangement planning of numerous objects, are combinatorially hard problems. Existing algorithms either do not scale well or assume a great deal of prior knowledge about the environment, and few offer…
Predictable inter-vehicle communication reliability is a basis for the paradigm shift from the traditional singlevehicle-oriented safety and efficiency control to networked vehicle control. The lack of predictable interference control in…
This paper investigates reachability analysis for max-plus linear systems (MPLS), an important class of dynamical systems that model synchronization and delay phenomena in timed discrete-event systems. We specifically focus on backward…
Cybersecurity has been a concern for quite a while now. In the latest years, cyberattacks have been increasing in size and complexity, fueled by significant advances in technology. Nowadays, there is an unavoidable necessity of protecting…
As robotic systems increasingly operate in unstructured, cluttered, and previously unseen environments, there is a growing need for manipulators that combine compliance, adaptability, and precise control. This work presents a real-time…
A central problem in systems biology is to identify parameter values such that a biological model satisfies some behavioral constraints (\eg, time series). In this paper we focus on parameter synthesis for hybrid (continuous/discrete)…
Priced timed automata provide a natural model for quantitative analysis of real-time systems and have been successfully applied in various scheduling and planning problems. The optimal reachability problem for linearly-priced timed automata…
Hybrid zonotopes generalize constrained zonotopes by introducing additional binary variables and possess some unique properties that make them convenient to represent nonconvex sets. This paper presents novel hybrid zonotope-based methods…
Reachability analysis is a powerful tool for computing the set of states or outputs reachable for a system. While previous work has focused on systems described by state-space models, we present the first methods to compute reachable sets…
Rigid bodies, plastic impact, persistent contact, Coulomb friction, and massless limbs are ubiquitous simplifications introduced to reduce the complexity of mechanics models despite the obvious physical inaccuracies that each incurs…
Formal design of embedded and cyber-physical systems relies on mathematical modeling. In this paper, we consider the model class of hybrid automata whose dynamics are defined by affine differential equations. Given a set of time-series…
Autonomous systems like aircraft and assistive robots often operate in scenarios where guaranteeing safety is critical. Methods like Hamilton-Jacobi reachability can provide guaranteed safe sets and controllers for such systems. However,…
The adaptation of numerical wind wave models to the local time-spatial conditions is a problem that can be solved by using various calibration techniques. However, the obtained sets of physical parameters become over-tuned to specific…
Event-B provides a flexible framework for stepwise system development via refinement. The framework supports steps for (a) refining events (one-by-one), (b) splitting events (one-by-many), and (c) introducing new events. In each of the…
In this work, we present a novel Koopman spectrum-based reachability verification method for nonlinear systems. Contrary to conventional methods that focus on characterizing all potential states of a dynamical system over a presupposed time…
This paper shows how to compute, for probabilistic hybrid systems, the clock approximation and linear phase-portrait approximation that have been proposed for non probabilistic processes by Henzinger et al. The techniques permit to define a…
We describe a task and motion planning architecture for highly dynamic systems that combines a domain-independent sampling-based deliberative planning algorithm with a global reactive planner. We leverage the recent development of a…
We present a Bayesian nonparametric system reliability model which scales well and provides a great deal of flexibility in modeling. The Bayesian approach naturally handles the disparate amounts of component and subsystem data that may…
Ensuring correctness of timed behaviors in cyber-physical systems (CPS) using closed-loop verification is challenging due to the hybrid dynamics in both systems and environments. Simulink and Stateflow are tools for model-based design that…