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This paper studies the satisfaction of a class of temporal properties for cyber-physical systems (CPSs) over a finite-time horizon in the presence of an adversary, in an environment described by discrete-time dynamics. The temporal logic…

The design and analysis of systems that combine computational behaviour with physical processes' continuous dynamics - such as movement, velocity, and voltage - is a famous, challenging task. Several theoretical results from programming…

The next generation of aircraft collision avoidance systems frame the problem as a Markov decision process and use dynamic programming to optimize the alerting logic. The resulting system uses a large lookup table to determine advisories…

Control Barrier Functions (CBFs) that provide formal safety guarantees have been widely used for safety-critical systems. However, it is non-trivial to design a CBF. Utilizing neural networks as CBFs has shown great success, but it…

The application of reinforcement learning to safety-critical systems is limited by the lack of formal methods for verifying the robustness and safety of learned policies. This paper introduces a novel framework that addresses this gap by…

Traditional attempts for loop closure detection typically use hand-crafted features, relying on geometric and visual information only, whereas more modern approaches tend to use semantic, appearance or geometric features extracted from deep…

Flat optics is now judged by more than a strong simulation or a single laboratory demonstration. To reach release, a device must survive a chain of handoffs: requirements, model selection, verification, layout release, fabrication,…

An engineering design process may involve software modules that can executed concurrently. Concurrent modules can be very easily subject to some synchronization errors. This paper discusses verification process for such engineering…

The deployment of Large Language Models (LLMs) in robotic systems presents unique safety challenges, particularly in unpredictable environments. Although LLMs, leveraging zero-shot learning, enhance human-robot interaction and…

Despite the tremendous advances that have been made in the last decade on developing useful machine-learning applications, their wider adoption has been hindered by the lack of strong assurance guarantees that can be made about their…

The representation of a Configuration Space C plays a vital role in accelerating the finding of a collision-free path for sampling-based motion planners where the majority of computation time is spent in collision checking of states.…

Model-based reinforcement learning (RL) has emerged as a promising tool for developing controllers for real world systems (e.g., robotics, autonomous driving, etc.). However, real systems often have constraints imposed on their state space…

This paper presents resource-aware algorithms for distributed inter-robot loop closure detection for applications such as collaborative simultaneous localization and mapping (CSLAM) and distributed image retrieval. In real-world scenarios,…

Programmable Logic Controllers (PLCs) are a core component of an Industrial Control System (ICS). However, if a PLC is compromised or the commands sent across a network from the PLCs are spoofed, consequences could be catastrophic. In this…

The increasing complexity of modern interlocking poses a major challenge to ensuring railway safety. This calls for application of formal methods forassurance and verification of their safety. We have developed an industry-strength toolset,…

Control Barrier Functions (CBFs) are a practical approach for designing safety-critical controllers, but constructing them for arbitrary nonlinear dynamical systems remains a challenge. Recent efforts have explored learning-based methods,…

This paper proposes a technique to specify and verify whether a loop can be parallelised. Our approach can be used as an additional step in a parallelising compiler to verify user annotations about loop dependences. Essentially, our…

Reconstructing physically valid 3D scenes from single-view observations is a prerequisite for bridging the gap between visual perception and robotic control. However, in scenarios requiring precise contact reasoning, such as robotic…

Many security- and performance-critical domains, such as cryptography, rely on low-level verification to minimize the trusted computing surface and allow code to be written directly in assembly. However, verifying assembly code against a…

Structural inspection in nuclear facilities is vital for maintaining operational safety and integrity. Traditional methods of manual inspection pose significant challenges, including safety risks, high cognitive demands, and potential…