Related papers: On the Completeness and Ordering of Path-Complete …
Barrier function-based inequality constraints are a means to enforce safety specifications for control systems. When used in conjunction with a convex optimization program, they provide a computationally efficient method to enforce safety…
We consider the problem of finding a Hamiltonian path or a Hamiltonian cycle with precedence constraints in the form of a partial order on the vertex set. We show that the path problem is $\mathsf{NP}$-complete for graphs of pathwidth 4…
Safe control with guarantees generally requires the system model to be known. It is far more challenging to handle systems with uncertain parameters. In this paper, we propose a generic algorithm that can synthesize and verify safe…
Compositional barrier functions are proposed in this paper to systematically compose multiple objectives for teams of mobile robots. The objectives are first encoded as barrier functions, and then composed using AND and OR logical…
In this paper, we study a declarative framework for specifying transformations of property graphs. In order to express such transformations, we leverage queries formulated in the Graph Pattern Calculus (GPC), which is an abstraction of the…
We summarize the main results proved in recent work on the parameterized verification of safety properties for ad hoc network protocols. We consider a model in which the communication topology of a network is represented as a graph. Nodes…
Constructing a control invariant set with an appropriate shape that fits within a given state constraint is a fundamental problem in safety-critical control but is known to be difficult, especially for large or complex spaces. This paper…
A type system combining type application, constants as types, union types (associative, commutative and idempotent) and recursive types has recently been proposed for statically typing path polymorphism, the ability to define functions that…
Providing safety guarantees for stochastic dynamical systems is a central problem in various fields, including control theory, machine learning, and robotics. Existing methods either employ Stochastic Barrier Functions (SBFs) or rely on…
This paper presents a novel data-driven framework for the robust safety verification and safe control synthesis of unknown monotone discrete-time systems. While existing data-driven safety analysis approaches are often either heuristic in…
We study the \emph{{interval completion}} problem, which asks for the insertion of a set of at most $k$ edges to make a graph of $n$ vertices into an interval graph. We focus on chordal graphs with no small obstructions, where every…
This work develops a robust adaptive control strategy for discrete-time systems using Control Barrier Functions (CBFs) to ensure safety under parametric model uncertainty and disturbances. A key contribution of this work is establishing a…
Vehicular networks will enable a range of novel applications to enhance road traffic efficiency, safety, and reduce fuel consumption. As for other cyber-physical systems, security is essential to the deployment of these applications and…
Generative planners based on flow matching (FM) produce high-quality paths in a single or a few ODE steps, but their sampling dynamics offer no formal safety guarantees and can yield incomplete paths near constraints. We present…
In this paper, our goal is to characterize two graph classes based on the properties of minimal vertex (edge) separators. We first present a structural characterization of graphs in which every minimal vertex separator is a stable set. We…
We present a new guaranteed-safe model predictive path integral (GS-MPPI) control algorithm that enhances sample efficiency in nonlinear systems with multiple safety constraints. The approach use a composite control barrier function (CBF)…
This paper studies the problem of finite-time convergence to a prescribed safe set for nonlinear systems whose initial states violate the safety constraints. Existing Control Lyapunov-Barrier Functions (CLBFs) can enforce recovery to the…
This paper develops a physics-informed scenario approach for safety verification of nonlinear systems using barrier certificates (BCs) to ensure that system trajectories remain within safe regions over an infinite time horizon. Designing…
Providing non-trivial certificates of safety for non-linear stochastic systems is an important open problem that limits the wider adoption of autonomous systems in safety-critical applications. One promising solution to address this problem…
The prolific rise in autonomous systems has led to questions regarding their safe instantiation in real-world scenarios. Failures in safety-critical contexts such as human-robot interactions or even autonomous driving can ultimately lead to…