Related papers: Computing Sound Lower and Upper Bounds on Hamilton…
The reduction of a matrix to an upper $J$-Hessenberg form is a crucial step in the $SR$-algorithm (which is a $QR$-like algorithm), structure-preserving, for computing eigenvalues and vectors, for a class of structured matrices. This…
Multi-UAV systems are safety-critical, and guarantees must be made to ensure no unsafe configurations occur. Hamilton-Jacobi (HJ) reachability is ideal for analyzing such safety-critical systems; however, its direct application is limited…
Designing controllers that are both safe and performant is inherently challenging. This co-optimization can be formulated as a constrained optimal control problem, where the cost function represents the performance criterion and safety is…
Joint Communication and Sensing (JCAS) technology facilitates the seamless integration of communication and sensing functionalities within a unified framework, enhancing spectral efficiency, reducing hardware complexity, and enabling…
We propose a novel Branch-and-Bound method for reachability analysis of neural networks in both open-loop and closed-loop settings. Our idea is to first compute accurate bounds on the Lipschitz constant of the neural network in certain…
We develop data-driven algorithms for reachability analysis and control of systems with a priori unknown nonlinear dynamics. The resulting algorithms not only are suitable for settings with real-time requirements but also provide provable…
Control barrier functions (CBFs) and Hamilton-Jacobi reachability (HJR) are central frameworks in safe control. Traditionally, these frameworks have been viewed as distinct, with the former focusing on optimally safe controller design and…
The method of generalized Hamilton-Jacobi-Bellman equations (GHJB) is a powerful way of creating near-optimal controllers by learning. It is based on the fact that if we have a feedback controller, and we learn to compute the gradient…
In this work, we propose a compositional framework for the construction of control barrier functions for networks of continuous-time stochastic hybrid systems enforcing complex logic specifications expressed by finite-state automata. The…
This paper presents a finite difference quasi-Newton method for the minimization of noisy functions. The method takes advantage of the scalability and power of BFGS updating, and employs an adaptive procedure for choosing the differencing…
The problem of establishing out-of-sample bounds for the values of an unkonwn ground-truth function is considered. Kernels and their associated Hilbert spaces are the main formalism employed herein along with an observational model where…
We propose a hybrid approach that combines Hamilton-Jacobi (HJ) reachability and mixed-integer optimization for solving a reach-avoid game with multiple attackers and defenders. The reach-avoid game is an important problem with potential…
We study stochastic minimum-cost reach-avoid reinforcement learning, where an agent must satisfy a reach-avoid specification with probability at least $p$ while minimizing expected cumulative costs in stochastic environments. Existing safe…
For given system dynamics, observer structure, and observer-based fault/attack detection procedure, we provide mathematical tools -- in terms of Linear Matrix Inequalities (LMIs) -- for computing outer ellipsoidal bounds on the set of…
This paper introduces the Hamilton-Jacobi-Bellman Proximal Policy Optimization (HJBPPO) algorithm into reinforcement learning. The Hamilton-Jacobi-Bellman (HJB) equation is used in control theory to evaluate the optimality of the value…
In this paper, we revisit energy-based concepts of controllability and reformulate them for control-affine nonlinear systems perturbed by white noise. Specifically, we discuss the relation between controllability of deterministic systems…
In this article, we design and analyze a Hybrid High-Order (HHO) finite element approximation for a class of strongly nonlinear boundary value problems. We consider an HHO discretization for a suitable linearized problem and show its…
This work addresses maximally robust control synthesis under unknown disturbances. We consider a general nonlinear system, subject to a Signal Temporal Logic (STL) specification, and wish to jointly synthesize the maximal possible…
This paper proposes a method to compute finite abstractions that can be used for synthesizing robust hybrid control strategies for nonlinear systems. Most existing methods for computing finite abstractions utilize some global, analytical…
Elementary function calls are a common feature in numerical programs. While their implementions in library functions are highly optimized, their computation is nonetheless very expensive compared to plain arithmetic. Full accuracy is,…