Related papers: Barrier Certificates for Unknown Systems with Late…
In this work, we study verification and synthesis problems for safety specifications over unknown discrete-time stochastic systems. When a model of the system is available, barrier certificates have been successfully applied for ensuring…
Safety-critical control tasks with high levels of uncertainty are becoming increasingly common. Typically, techniques that guarantee safety during learning and control utilize constraint-based safety certificates, which can be leveraged to…
In this paper, we investigate the probabilistic formal verification of stochastic dynamical systems over continuous state spaces. Motivated by problems in state estimation and information-flow security, we introduce the notion of…
Established techniques that enable robots to learn from demonstrations are based on learning a stable dynamical system (DS). To increase the robots' resilience to perturbations during tasks that involve static obstacle avoidance, we propose…
This work is concerned with synthesizing safety controllers for discrete-time nonlinear systems beyond polynomials with unknown mathematical models using the notion of k-inductive control barrier certificates (k-CBCs). Conventional CBC…
Safety control of dynamical systems using barrier functions relies on knowing the full state information. This paper introduces a novel approach for safety control in uncertain MIMO systems with partial state information. The proposed…
As control engineering methods are applied to increasingly complex systems, data-driven approaches for system identification appear as a promising alternative to physics-based modeling. While the Bayesian approaches prevalent for…
A barrier certificate is an inductive invariant function which can be used for the safety verification of a hybrid system. Safety verification based on barrier certificate has the benefit of avoiding explicit computation of the exact…
This paper studies satisfying temporal logic specifications on stochastic dynamical systems, where the predicates evolve randomly over time. Such randomness may arise from uncertain environment models or external stochastic processes…
Ensuring safety in cyber-physical systems (CPSs) is a critical challenge, especially when system models are difficult to obtain or cannot be fully trusted due to uncertainty, modeling errors, or environmental disturbances. Traditional…
Barrier certificates provide functional overapproximations for the reachable set of dynamical systems and provide inductive guarantees on the safe evolution of the system. In automata-theoretic verification, a key query is to determine…
The barrier function method for safety control typically assumes the availability of full state information. Unfortunately, in many scenarios involving uncertain dynamical systems, full state information is often unavailable. In this paper,…
This work establishes a crucial step toward advancing data-driven trajectory-based methods for stochastic systems with unknown mathematical dynamics. In contrast to scenario-based approaches that rely on independent and identically…
A barrier certificate can separate the state space of a con- sidered hybrid system (HS) into safe and unsafe parts ac- cording to the safety property to be verified. Therefore this notion has been widely used in the verification of HSs. A…
We study the problem of co-designing control barrier functions and linear state feedback controllers for discrete-time linear systems affected by additive disturbances. For disturbances of bounded magnitude, we provide a semi-definite…
Algorithmic verification of realistic systems to satisfy safety and other temporal requirements has suffered from poor scalability of the employed formal approaches. To design systems with rigorous guarantees, many approaches still rely on…
We provide out-of-sample certificates on the controlled invariance property of a given set with respect to a class of black-box linear systems. Specifically, we consider linear time-invariant models whose state space matrices are known only…
Control barrier certificates have proven effective in formally guaranteeing the safety of the control systems. However, designing a control barrier certificate is a time-consuming and computationally expensive endeavor that requires expert…
We present a novel technique for online safety verification of autonomous systems, which performs reachability analysis efficiently for both bounded and unbounded horizons by employing neural barrier certificates. Our approach uses barrier…
In modern robotics, addressing the lack of accurate state space information in real-world scenarios has led to a significant focus on utilizing visuomotor observation to provide safety assurances. Although supervised learning methods, such…