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While Temporal Logic provides a rigorous verification framework for robotics, it typically operates on trajectory-level signals and does not natively represent the object-centric geometric relations that are central to manipulation.…
Autonomous cyber-physical systems (CPS) rely on the correct operation of numerous components, with state-of-the-art methods relying on machine learning (ML) and artificial intelligence (AI) components in various stages of sensing and…
Ensuring correctness of timed behaviors in cyber-physical systems (CPS) using closed-loop verification is challenging due to the hybrid dynamics in both systems and environments. Simulink and Stateflow are tools for model-based design that…
In this dissertation we describe two contributions to the state of the art in reasoning about liveness and safety, respectively. Programs for multiprocessor machines commonly perform busy waiting for synchronization. We propose the first…
As a general trend in industrial robotics, an increasing number of safety functions are being developed or re-engineered to be handled in software rather than by physical hardware such as safety relays or interlock circuits. This trend…
Semantic segmentation networks (SSNs) are central to safety-critical applications such as medical imaging and autonomous driving, where robustness under uncertainty is essential. However, existing probabilistic verification methods often…
Due to major breakthroughs in software and engineering technologies, embedded systems are increasingly being utilized in areas ranging from aerospace and next-generation transportation systems, to smart grid and smart cities, to health care…
Formal verification has emerged as a powerful approach to ensure the safety and reliability of deep neural networks. However, current verification tools are limited to only a handful of properties that can be expressed as first-order…
Designing scalable concurrent objects, which can be efficiently used on multicore processors, often requires one to abandon standard specification techniques, such as linearizability, in favor of more relaxed consistency requirements.…
For motion planning in high dimensional configuration spaces, a significant computational bottleneck is collision detection. Our aim is to reduce the expected number of collision checks by creating a belief model of the configuration space…
Cyber-physical systems (CPSs) are important whenever computer technology interfaces with the physical world as it does in self-driving cars or aircraft control support systems. Due to their many subtleties, controllers for cyber-physical…
We present a simulation-based approach for generating barrier certificate functions for safety verification of cyber-physical systems (CPS) that contain neural network-based controllers. A linear programming solver is utilized to find a…
Human-robot collaboration (HRC) is an emerging trend of robotics that promotes the co-presence and cooperation of humans and robots in common workspaces. Physical vicinity and interaction between humans and robots, combined with the…
Formal verification techniques have been playing an important role in pre-silicon validation processes. One of the most important points considered in performing formal verification is to define good verification scopes; we should define…
As software systems increase in size and complexity dramatically, ensuring their correctness, security, and reliability becomes an increasingly formidable challenge. Despite significant advancements in verification techniques and tools,…
We build on our recent work on formalization of responsibility-sensitive safety (RSS) and present the first formal framework that enables mathematical proofs of the safety of control strategies in intersection scenarios. Intersection…
Programmable Logic Controllers (PLCs) provide a prominent choice of implementation platform for safety-critical industrial control systems. Formal verification provides ways of establishing correctness guarantees, which can be quite…
Live sequence charts (LSCs) have been proposed as an inter-object scenario-based specification and visual programming language for reactive systems. In this paper, we introduce a logic-based framework to check the consistency of an LSC…
Threat detection systems rely on rule-based logic to identify adversarial behaviors, yet the conformance of these rules to high-level threat models is rarely verified formally. We present a formal verification framework that models both…
Groundbreaking successes have been achieved by Deep Reinforcement Learning (DRL) in solving practical decision-making problems. Robotics, in particular, can involve high-cost hardware and human interactions. Hence, scrupulous evaluations of…