相关论文: Safety Verification and Controller Synthesis for S…
Certifying safety in dynamical systems is crucial, but barrier certificates - widely used to verify that system trajectories remain within a safe region - typically require explicit system models. When dynamics are unknown, data-driven…
Control barrier functions (CBFs) provide a principled framework for enforcing safety in control systems -- yet the certified safe operating region in practice is often conservative, especially under input bounds. In many applications,…
This paper develops a novel control synthesis method for safe stabilization of control-affine systems as a Differential Complementarity Problem (DCP). Our design uses a control Lyapunov function (CLF) and a control barrier function (CBF) to…
Despite significant advancement in technology, communication and computational failures are still prevalent in safety-critical engineering applications. Often, networked control systems experience packet dropouts, leading to open-loop…
Optimal control for safety-critical systems is often dependent on the conservativeness of constraints. Control Barrier Functions (CBFs) serve as a medium to represent such constraints, but constructing a minimally conservative CBF is a…
Complex control systems are often described in a layered fashion, represented as higher-order systems where the inputs appear after a chain of integrators. While Control Barrier Functions (CBFs) have proven to be powerful tools for…
Software implementations of controllers for physical systems are at the core of many embedded systems. The design of controllers uses the theory of dynamical systems to construct a mathematical control law that ensures that the controlled…
The rapid integration of AI algorithms in safety-critical applications such as autonomous driving and healthcare is raising significant concerns about the ability to meet stringent safety standards. Traditional tools for formal safety…
In this work, we propose a compositional scheme for the safety controller synthesis of interconnected discrete-time stochastic systems with Markovian switching signals. Our proposed approach is based on a notion of so-called control storage…
This study presents a framework to guarantee safety for a class of second-order nonlinear systems under multiple state and input constraints. To facilitate real-world applications, a safety-critical controller must consider multiple…
Inspired by the success of control barrier functions (CBFs) in addressing safety, and the rise of data-driven techniques for modeling functions, we propose a non-parametric approach for online synthesis of CBFs using Gaussian Processes…
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,…
In human-robot collaboration (HRC), software-based automatic safety controllers (ASCs) are used in various forms (e.g. shutdown mechanisms, emergency brakes, interlocks) to improve operational safety. Complex robotic tasks and increasingly…
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…
Barrier certificates are scalar functions over the state space of dynamical systems that separate all unsafe states from all reachable states. The existence of a barrier certificate formally verifies the safety of the dynamical system.…
Inspired by the success of imitation and inverse reinforcement learning in replicating expert behavior through optimal control, we propose a learning based approach to safe controller synthesis based on control barrier functions (CBFs). We…
The existence of a Control Barrier Function (CBF) for a control-affine system provides a powerful design tool to ensure safety. Any controller that satisfies the CBF condition and ensures that the trajectories of the closed-loop system are…
This paper proposes a (control) barrier function synthesis and safety verification scheme for interconnected nonlinear systems based on assume-guarantee contracts (AGC) and sum-of-squares (SOS) techniques. It is well-known that the SOS…
In this paper, we develop a safe control synthesis method that integrates state estimation and parameter estimation within an adaptive optimal control (AOC) and control barrier function (CBF)-based control architecture. The developed…
Various techniques have been used in recent years for verifying quantum computers, that is, for determining whether a quantum computer/system satisfies a given formal specification of correctness. Barrier certificates are a recent novel…