相关论文: Runtime Enforcement for Component-Based Systems

Increased dependence on networked, software based control has escalated the vulnerabilities of Cyber Physical Systems (CPSs). Detection and monitoring components developed leveraging dynamical systems theory are often employed as…

Stealthy false data injection attacks on cyber-physical systems (CPSs) introduce erroneous measurement information to on-board sensors with the purpose to degrade system performance. An intelligent attacker is able to leverage knowledge of…

Past work on evacuation planning assumes that evacuees will follow instructions -- however, there is ample evidence that this is not the case. While some people will follow instructions, others will follow their own desires. In this paper,…

The increasing complexity of modern robotic systems and the environments they operate in necessitates the formal consideration of safety in the presence of imperfect measurements. In this paper we propose a rigorous framework for…

We propose decentralized k-hop Prescribed Performance State and Input Observers for heterogeneous multi-agent systems subject to bounded external disturbances. In the proposed input/state observer, each agent estimates the state and input…

Business process simulation (BPS) is a key tool for analyzing and optimizing organizational workflows, supporting decision-making by estimating the impact of process changes. The reliability of such estimates depends on the ability of a BPS…

In the current control design of safety-critical autonomous systems, formal verification techniques are typically applied after the controller is designed to evaluate whether the required properties (e.g., safety) are satisfied. However,…

This paper addresses the problem of asymptotic tracking for high-order control-affine MIMO nonlinear systems with unknown dynamic terms subject to input and transient state constraints. We introduce Barrier Integral Control (BRIC), a novel…

Detecting and resolving violations of temporal constraints in real-time systems is both, time-consuming and resource-intensive, particularly in complex software environments. Measurement-based approaches are widely used during development,…

Stochastic dynamical systems have emerged as fundamental models across numerous application domains, providing powerful mathematical representations for capturing uncertain system behavior. In this paper, we address the problem of runtime…

Cyclic pursuit frameworks provide an efficient way to create useful global behaviors out of pairwise interactions in a collective of autonomous robots. Earlier work studied cyclic pursuit with a constant bearing (CB) pursuit law, and has…

Pre-deployment verification of software components with respect to behavioral specifications in the assume-guarantee form does not, in general, guarantee absence of errors at run time. This is because assumptions about the environment…

Generating accurate runtime safety estimates for autonomous systems is vital to ensuring their continued proliferation. However, exhaustive reasoning about future behaviors is generally too complex to do at runtime. To provide scalable and…

Ensuring safety in robotic systems remains a fundamental challenge, especially when deploying offline policy-learning methods such as imitation learning in dynamic environments. Traditional behavior cloning (BC) often fails to generalize…

We demonstrate the efficiency of a recent exact-gradient optimal control methodology by applying it to a challenging many-body problem, crossing the superfluid to Mott-insulator phase transition in the Bose-Hubbard model. The system size…

Hamilton Jacobi (HJ) Reachability is a formal verification tool widely used in robotic safety analysis. Given a target set as unsafe states, a dynamical system is guaranteed not to enter the target under the worst-case disturbance if it…

Modern society is increasingly surrounded by, and accustomed to, a wide range of Cyber-Physical Systems (CPS), Internet-of-Things (IoT), and smart devices. They often perform safety-critical functions, e.g., personal medical devices,…

In the last years Node.js has emerged as a framework particularly suitable for implementing lightweight IoT applications, thanks to its underlying asynchronous event-driven, non blocking I/O model. However, verifying the correctness of…

Cyber-physical systems (CPS) integrate sensing, computing, communication and actuation capabilities to monitor and control operations in the physical environment. A key requirement of such systems is the need to provide predictable…

The control architecture of autonomous robots can be developed by programming and integrating multiple software components that individually control separate behaviors. This approach requires additional mechanisms to coordinate their…