Related papers: Barrier Certificates for Uncertain Temporal Specif…
In this paper, we present a novel data-driven approach to quantify safety for non-linear, discrete-time stochastic systems with unknown noise distribution. We define safety as the probability that the system remains in a given region of the…
This paper presents a method for the simultaneous synthesis of a barrier certificate and a safe controller for discrete-time nonlinear stochastic systems. Our approach, based on piecewise stochastic control barrier functions, reduces the…
We study the temporal robustness of temporal logic specifications and show how to design temporally robust control laws for time-critical control systems. This topic is of particular interest in connected systems and interleaving processes…
This paper is concerned with a compositional scheme for the construction of control barrier certificates for interconnected discrete-time stochastic systems. The main objective is to synthesize switching control policies against…
Recently, barrier certificates have been introduced to prove the safety of continuous or hybrid dynamical systems. A barrier certificate needs to exhibit some barrier function, which partitions the state space in two subsets: the safe…
Reach-avoid analysis is fundamental to reasoning about the safety and goal-reaching behavior of dynamical systems, and serves as a foundation for specifying and verifying more complex control objectives. This paper introduces a reach-avoid…
Many robot control scenarios involve assessing system robustness against a task specification. If either the controller or environment are composed of "black-box" components with unknown dynamics, we cannot rely on formal verification to…
This paper presents a continuous-time optimal control framework for the generation of reference trajectories in driving scenarios with uncertainty. A previous work presented a discrete-time stochastic generator for autonomous vehicles;…
Robots deployed in unstructured, real-world environments operate under considerable uncertainty due to imperfect state estimates, model error, and disturbances. Given this real-world context, the goal of this paper is to develop controllers…
In this paper, we present an algorithm for synthesizing certificates---so-called barrier certificates---for safety of hybrid dynamical systems. Unlike the usual approach of using constraint solvers to compute the certificate from the system…
We introduce a functional inductive framework to verify discrete-time dynamical systems against hyperproperties specified as Hyperlinear temporal logic formulae via a notion of HyperCertificates. Unlike linear temporal logic (LTL) formulae…
Categorical structural optimization under aleatoric uncertainty is challenging because each design variable must be selected from a finite catalog of admissible instances, while each candidate design may require expensive stochastic…
This work is concerned with a formal approach for safety controller synthesis of stochastic control systems with both process and measurement noises while considering wireless communication networks between sensors, controllers, and…
We present for the first time a supermartingale certificate for $\omega$-regular specifications. We leverage the Robbins & Siegmund convergence theorem to characterize supermartingale certificates for the almost-sure acceptance of Streett…
In this paper, we consider the use of barrier function-based approaches for the safe control problem in stochastic systems. With the presence of stochastic uncertainties, a myopic controller that ensures safe probability in infinitesimal…
Barrier certificates, serving as differential invariants that witness system safety, play a crucial role in the verification of cyber-physical systems (CPS). Prevailing computational methods for synthesizing barrier certificates are based…
Designing provably safe control is a core problem in trustworthy autonomy. However, most prior work in this regard assumes either that the system dynamics are known or deterministic, or that the state and action space are finite,…
We study the safety verification problem for discrete-time stochastic systems. We propose an approach for safety verification termed set-erosion strategy that verifies the safety of a stochastic system on a safe set through the safety of…
This paper studies an optimal control problem for continuous-time stochastic systems subject to reachability objectives specified in a subclass of metric interval temporal logic specifications, a temporal logic with real-time constraints.…
Control systems that satisfy temporal logic specifications have become increasingly popular due to their applicability to robotic systems. Existing control methods, however, are computationally demanding, especially when the problem size…