相关论文: Simulation Based Computation of Certificates for S…

We consider the stability and the input-output analysis problems of a class of large-scale hybrid systems composed of continuous dynamics coupled with discrete dynamics defined over finite alphabets, e.g., deterministic finite state…

Industrial human-robot collaborative systems must be validated thoroughly with regard to safety. The sooner potential hazards for workers can be exposed, the less costly is the implementation of necessary changes. Due to the complexity of…

Software system certification presents itself with many challenges, including the necessity to certify the system at the level of functional requirements, code and binary levels, the need to chase down run-time errors, and the need for…

This paper investigates the problem of safety certification for black-box discrete-time stochastic systems, where both the system dynamics and disturbance distributions are unknown, and only sampled data are available. Under such limited…

An open research problem in automatic signature verification is the skilled forgery attacks. However, the skilled forgeries are very difficult to acquire for representation learning. To tackle this issue, this paper proposes to learn…

In many synthesis problems, it can be essential to generate implementations which not only satisfy functional constraints but are also randomized to improve variety, robustness, or unpredictability. The recently-proposed framework of…

Safe and optimal controller synthesis for switched-controlled hybrid systems, which combine differential equations and discrete changes of the system's state, is known to be intricately hard. Reinforcement learning has been leveraged to…

To safely navigate unknown environments, robots must accurately perceive dynamic obstacles. Instead of directly measuring the scene depth with a LiDAR sensor, we explore the use of a much cheaper and higher resolution sensor: programmable…

Naturalistic driving trajectories are crucial for the performance of autonomous driving algorithms. However, most of the data is collected in safe scenarios leading to the duplication of trajectories which are easy to be handled by…

This paper presents a framework for the safety-critical control of robotic systems, when safety is defined on safe regions in the configuration space. To maintain safety, we synthesize a safe velocity based on control barrier function…

Applications that require multi-robot systems to operate independently for extended periods of time in unknown or unstructured environments face a broad set of challenges, such as hardware degradation, changing weather patterns, or…

Automatic synthesis of hardware components from declarative specifications is an ambitious endeavor in computer aided design. Existing synthesis algorithms are often implemented with Binary Decision Diagrams (BDDs), inheriting their…

This paper introduces the notion of an Input Constrained Control Barrier Function (ICCBF), as a method to synthesize safety-critical controllers for non-linear control affine systems with input constraints. The method identifies a subset of…

Safety-critical applications require controllers/policies that can guarantee safety with high confidence. The control barrier function is a useful tool to guarantee safety if we have access to the ground-truth system dynamics. In practice,…

Control systems often must satisfy strict safety requirements over an extended operating lifetime. Control Barrier Functions (CBFs) are a promising recent approach to constructing simple and safe control policies. This paper proposes a…

Control barrier functions have shown great success in addressing control problems with safety guarantees. These methods usually find the next safe control input by solving an online quadratic programming problem. However, model uncertainty…

Control barrier functions are widely used to enforce safety properties in robot motion planning and control. However, the problem of constructing barrier functions online and synthesizing safe controllers that can deal with the associated…

Correct-by-construction synthesis is a cornerstone of the confluence of formal methods and control theory towards designing safety-critical systems. Instead of following the time-tested, albeit laborious (re)design-verify-validate loop,…

We present an algorithm of control synthesis for nonlinear switched systems, based on an existing procedure of state-space bisection and made available for nonlinear systems with the help of validated simulation. The use of validated…

As software becomes increasingly pervasive in critical domains like autonomous driving, new challenges arise, necessitating rethinking of system engineering approaches. The gradual takeover of all critical driving functions by autonomous…