相关论文: Learning Density Distribution of Reachable States …

A shortcoming of existing reachability approaches for nonlinear systems is the poor scalability with the number of continuous state variables. To mitigate this problem we present a simulation-based approach where we first sample a number of…

State-dependent networked dynamical systems are ones where the interconnections between agents change as a function of the states of the agents. Such systems are highly nonlinear, and a cohesive strategy for their control is lacking in the…

A classic reachability problem for safety of dynamic systems is to compute the set of initial states from which the state trajectory is guaranteed to stay inside a given constraint set over a given time horizon. In this paper, we leverage…

In this paper we explore the performance of deep hidden physics model (M. Raissi 2018) for autonomous systems. These systems are described by set of ordinary differential equations which do not explicitly depend on time. Such systems can be…

Reachability analysis is an important method in providing safety guarantees for systems with unknown or uncertain dynamics. Due to the computational intractability of exact reachability analysis for general nonlinear, high-dimensional…

We study data-driven learning of robust stochastic control for infinite-horizon systems with potentially continuous state and action spaces. In many managerial settings--supply chains, finance, manufacturing, services, and dynamic…

We consider the problem of learning the dynamics of autonomous linear systems (i.e., systems that are not affected by external control inputs) from observations of multiple trajectories of those systems, with finite sample guarantees.…

The problem of computing the reachable set for a given system is a quintessential question in nonlinear control theory. While previous work has yielded a plethora of approximate and analytical methods for determining such a set, these…

Real-time safety systems are crucial components of intelligent vehicles. This paper introduces a prediction-based collision risk assessment approach on highways. Given a point mass vehicle dynamics system, a stochastic forward reachable set…

In this paper, we present a novel method to drive a nonlinear system to a desired state, with limited a priori knowledge of its dynamic model: local dynamics at a single point and the bounds on the rate of change of these dynamics. This…

Effective quantification of uncertainty is an essential and still missing step towards a greater adoption of deep-learning approaches in different applications, including mission-critical ones. In particular, investigations on the…

The state space dynamics representation is the most general approach for nonlinear systems and often chosen for system identification. During training, the state trajectory can deform significantly leading to poor data coverage of the state…

This paper presents an algorithm to apply nonlinear control design approaches in the case of stochastic systems with partial state observation. Deterministic nonlinear control approaches are formulated under the assumption of full state…

Deep neural networks can be trained to be efficient and effective controllers for dynamical systems; however, the mechanics of deep neural networks are complex and difficult to guarantee. This work presents a general approach for providing…

In this work we propose techniques for efficient reachability analysis of the state space (e.g., detection of bad states) using a combination of partial order and symmetry based reductions in a distributed setting. The proposed techniques…

This paper proposes a novel methodology for probabilistic dynamic security assessment and enhancement of power systems that considers load and generation variability, N-2 contingencies, and uncertain cascade propagation caused by uncertain…

We study the problem of system identification for stochastic continuous-time dynamics, based on a single finite-length state trajectory. We present a method for estimating the possibly unstable open-loop matrix by employing properly…

The goal of autonomous vehicles is to navigate public roads safely and comfortably. To enforce safety, traditional planning approaches rely on handcrafted rules to generate trajectories. Machine learning-based systems, on the other hand,…

Accurate state and uncertainty estimation is imperative for mobile robots and self driving vehicles to achieve safe navigation in pedestrian rich environments. A critical component of state and uncertainty estimation for robot navigation is…

In order to develop provably safe human-in-the-loop systems, accurate and precise models of human behavior must be developed. In the case of intelligent vehicles, one can imagine the need for predicting driver behavior to develop minimally…