Related papers: Time-Varying Reach-Avoid Control Certificates for …
In this paper, we extend a framework that we developed earlier for coordination of connected and automated vehicles (CAVs) at a signal-free intersection by integrating a safety layer using control barrier functions. First, in our motion…
In the first part of the paper, we consider a discrete-time stochastic control system. We show that, under certain conditions, the set of random occupational measures generated by the state-control trajectories of the system as well as the…
This work is concerned with developing a data-driven approach for learning control barrier certificates (CBCs) and associated safety controllers for discrete-time nonlinear polynomial systems with unknown mathematical models, guaranteeing…
In this paper, we propose a class of discrete-time approximation schemes for stochastic optimal control problems under the $G$-expectation framework. The proposed schemes are constructed recursively based on piecewise constant policy. We…
The rapid integration of AI algorithms in safety-critical applications such as autonomous driving and healthcare is raising significant concerns about the ability to meet stringent safety standards. Traditional tools for formal safety…
In this paper we examine how Lagrangian techniques can be used to compute underapproximations and overapproximation of the finite-time horizon, stochastic reach-avoid level sets for discrete-time, nonlinear systems. This approach is…
The enforcement of access control policies using cryptography has received considerable attention in recent years and the security of such enforcement schemes is increasingly well understood. Recent work in the area has considered the…
Unmanned aerial vehicles (UAVs) suffer from sensor drifts in GPS denied environments, which can cause safety issues. To avoid intolerable sensor drifts while completing the time-critical coordination task for multi-UAV systems, we propose a…
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…
This paper addresses the problem of safe autonomous navigation in unknown obstacle-filled environments using only local sensory information. We propose a smooth feedback controller derived from an unconstrained penalty-based formulation…
In this paper, we study the stochastic optimal control problem for control system with time-varying delay. The corresponding stochastic differential equation is a kind of stochastic differential delay equation. We prove the existence and…
This paper focuses on the invariance control problem for discrete-time switched nonlinear systems. The proposed approach computes controlled invariant sets in a finite number of iterations and directly yields a partition-based invariance…
Verified controller synthesis uses world models that comprise all potential behaviours of humans, robots, further equipment, and the controller to be synthesised. A world model enables quantitative risk assessment, for example, by…
A key challenge to ensuring the rapid transition of robotic systems from the industrial sector to more ubiquitous applications is the development of algorithms that can guarantee safe operation while in close proximity to humans. Motion…
This paper proposes a finitely terminating algorithm to solve reach-and-stay control problems for nonlinear systems. The algorithm is guaranteed to return a control strategy if the specification is robustly realizable. Such a feature is…
Guaranteeing safety for robotic and autonomous systems in real-world environments is a challenging task that requires the mitigation of stochastic uncertainties. Control barrier functions have, in recent years, been widely used for…
We develop an autonomous navigation algorithm for a robot operating in two-dimensional environments containing obstacles, with arbitrary non-convex shapes, which can be in close proximity with each other, as long as there exists at least…
This paper studies the optimal output-feedback control of a linear time-invariant system where a stochastic event-based scheduler triggers the communication between the sensor and the controller. The primary goal of the use of this type of…
A constant-rate multi-mode system is a hybrid system that can switch freely among a finite set of modes, and whose dynamics is specified by a finite number of real-valued variables with mode-dependent constant rates. We introduce and study…
We consider the problem of verifying safety for continuous-time dynamical systems. Developing upon recent advancements in data-driven verification, we use only a finite number of sampled trajectories to learn a barrier certificate, namely a…