相关论文: Scalable synthesis of safety certificates from dat…

We present a controller synthesis algorithm for reach-avoid problems for piecewise linear discrete-time systems. Our algorithm relies on SMT solvers and in this paper we focus on piecewise constant control strategies. Our algorithm…

In this work, we propose a compositional scheme based on small-gain reasoning to synthesize safety controllers for interconnected stochastic hybrid systems. In our proposed setting, we first offer an augmented scheme that characterizes each…

This paper tackles the problem of generating safe exit controllers for continuous-time systems described by stochastic differential equations (SDEs). The primary aim is to develop controllers that maximize the lower bounds of the exit…

This paper considers the optimal control for hybrid systems whose trajectories transition between distinct subsystems when state-dependent constraints are satisfied. Though this class of systems is useful while modeling a variety of…

The need for robust control laws is especially important in safety-critical applications. We propose robust hybrid control barrier functions as a means to synthesize control laws that ensure robust safety. Based on this notion, we formulate…

This manuscript discusses a scalable controller synthesis method for networked systems with a large number of identical subsystems based on the H-infinity control framework. The dynamics of the individual subsystems are described by…

Safety has been recognized as the central obstacle to preventing the use of reinforcement learning (RL) for real-world applications. Different methods have been developed to deal with safety concerns in RL. However, learning reliable…

In this paper, we consider a control synthesis problem for a class of polynomial dynamical systems subject to bounded disturbances and with input constraints. More precisely, we aim at synthesizing at the same time a controller and an…

We investigate the problem of verifying different properties of discrete time dynamical systems, namely, reachability, safety and reach-while-avoid. To achieve this, we adopt a data driven perspective and, using past system trajectories as…

We present a scalable set-valued safety-preserving controller for constrained continuous-time linear time-invariant (LTI) systems subject to additive, unknown but bounded disturbance or uncertainty. The approach relies upon a conservative…

In its quest for approaches to taming uncertainty in self-adaptive systems (SAS), the research community has largely focused on solutions that adapt the SAS architecture or behaviour in response to uncertainty. By comparison, solutions that…

While artificial-intelligence-based methods suffer from lack of transparency, rule-based methods dominate in safety-critical systems. Yet, the latter cannot compete with the first ones in robustness to multiple requirements, for instance,…

Modern cyber-physical systems often have a two-layered design, where the primary controller is AI-enabled or an analytical controller optimising some specific cost function. If the resulting control action is perceived as unsafe, a…

Safety Index Synthesis (SIS) is critical for deriving safe control laws. Recent works propose to synthesize a safety index (SI) via nonlinear programming and derive a safe control law such that the system 1) achieves forward invariant (FI)…

Control tasks with safety requirements under high levels of model uncertainty are increasingly common. Machine learning techniques are frequently used to address such tasks, typically by leveraging model error bounds to specify robust…

In recent years, advanced model-based and data-driven control methods are unlocking the potential of complex robotics systems, and we can expect this trend to continue at an exponential rate in the near future. However, ensuring safety with…

This paper demonstrates the applicability of the safe model predictive control (SMPC) framework to autonomous driving scenarios, focusing on the design of adaptive cruise control (ACC) and automated lane-change systems. Building on the SMPC…

We propose novel controller synthesis techniques for probabilistic systems modelled using stochastic two-player games: one player acts as a controller, the second represents its environment, and probability is used to capture uncertainty…

Controller tuning is a labor-intensive process that requires human intervention and expert knowledge. Bayesian optimization has been applied successfully in different fields to automate this process. However, when tuning on hardware, such…

In this paper, we propose a compositional framework for the construction of control barrier certificates for large-scale stochastic switched systems accepting multiple control barrier certificates with some dwell-time conditions. The…