Related papers: Solvability of Approximate Reach-Avoid Games
In this paper, a novel computational technique for finite discrete approximation of continuous dynamical systems suitable for a significant class of biochemical dynamical systems is introduced. The method is parameterized in order to affect…
We present a new method for the automated synthesis of safe and robust Proportional-Integral-Derivative (PID) controllers for stochastic hybrid systems. Despite their widespread use in industry, no automated method currently exists for…
This paper presents a hybrid adaptive Nash equilibrium solver for distributed multi-agent systems incorporating game-theoretic jump triggering mechanisms. The approach addresses fundamental scalability and computational challenges in…
Recent literature has proposed approaches that learn control policies with high performance while maintaining safety guarantees. Synthesizing Hamilton-Jacobi (HJ) reachable sets has become an effective tool for verifying safety and…
To verify the correct operation of systems, engineers need to determine the set of configurations of a dynamical model that are able to safely reach a specified configuration under a control law. Unfortunately, constructing models for…
We present novel techniques for neuro-symbolic concurrent stochastic games, a recently proposed modelling formalism to represent a set of probabilistic agents operating in a continuous-space environment using a combination of neural network…
Reach-avoid optimal control problems, in which the system must reach certain goal conditions while staying clear of unacceptable failure modes, are central to safety and liveness assurance for autonomous robotic systems, but their exact…
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…
Hamilton-Jacobi (HJ) reachability analysis is a widely used method for ensuring the safety of robotic systems. Traditional approaches compute reachable sets by numerically solving an HJ Partial Differential Equation (PDE) over a grid, which…
This work in progress considers reachability-based safety analysis in the domain of autonomous driving in multi-agent systems. We formulate the safety problem for a car following scenario as a differential game and study how different…
Classical reactive synthesis approaches aim to synthesize a reactive system that always satisfies a given specifications. These approaches often reduce to playing a two-player zero-sum game where the goal is to synthesize a winning…
Two-player zero-sum games are a well-established model for synthesising controllers that optimise some performance criterion. In such games one player represents the controller, while the other describes the (adversarial) environment, and…
Hamilton-Jacobi (HJ) reachability analysis is a fundamental tool for the safety verification and control synthesis of nonlinear control systems. Classical HJ reachability analysis methods compute value functions over grids which discretize…
We present a method of computing backward reachable sets for nonlinear discrete-time control systems possessing continuous symmetries. The starting point is a dynamic game formulation of reachability analysis where control inputs aim to…
We consider finite horizon reach-avoid problems for discrete time stochastic systems. Our goal is to construct upper bound functions for the reach-avoid probability by means of tractable convex optimization problems. We achieve this by…
In this paper we study reachability verification problems of stochastic discrete-time dynamical systems over the infinite time horizon. The reachability verification of interest in this paper is to certify specified lower and upper bounds…
A multiplayer reach-avoid game is a differential game between an attacking team with NA attackers and a defending team with ND defenders playing on a compact domain with obstacles. The attacking team aims to send M of the NA attackers to…
Hamilton-Jacobi (HJ) reachability analysis is an important formal verification method for guaranteeing performance and safety properties of dynamical control systems. Its advantages include compatibility with general nonlinear system…
This article deals with stochastic processes endowed with the Markov (memoryless) property and evolving over general (uncountable) state spaces. The models further depend on a non-deterministic quantity in the form of a control input, which…
The success of adversarial formulations in machine learning has brought renewed motivation for smooth games. In this work, we focus on the class of stochastic Hamiltonian methods and provide the first convergence guarantees for certain…