相关论文: Sufficient Conditions for Robust Safety in Differe…

Safe autonomy is a critical requirement and a key enabler for robots to operate safely in unstructured complex environments. Control barrier functions and safe motion corridors are two widely used but technically distinct safety methods,…

This paper proposes a safety-critical control design approach for nonlinear control affine systems in the presence of matched and unmatched uncertainties. Our constructive framework couples control barrier function (CBF) theory with a new…

This work proposes a sliding mode control barrier function to robustly deal with high relative-degree safety constraints in safety-critical control systems. Stability/tracking objectives, expressed as a nominal control law, and safety…

This paper presents robust inference methods for general linear hypotheses in linear panel data models with latent group structure in the coefficients. We employ a selective conditional inference approach, deriving the conditional…

This paper presents conditions for ensuring forward invariance of safe sets under sampled-data system dynamics with piecewise-constant controllers and fixed time-steps. First, we introduce two different metrics to compare the…

Robustness is a basic property of any control system. In the context of linear output regulation, it was proved that embedding an internal model of the exogenous signals is necessary and sufficient to achieve tracking of the desired…

Recent advances in Deep Machine Learning have shown promise in solving complex perception and control loops via methods such as reinforcement and imitation learning. However, guaranteeing safety for such learned deep policies has been a…

Providing non-trivial certificates of safety for non-linear stochastic systems is an important open problem that limits the wider adoption of autonomous systems in safety-critical applications. One promising solution to address this problem…

In safety-critical control, managing safety constraints with high relative degrees and uncertain obstacle dynamics pose significant challenges in guaranteeing safety performance. Robust Control Barrier Functions (RCBFs) offer a potential…

Robustness of machine learning models is critical for security related applications, where real-world adversaries are uniquely focused on evading neural network based detectors. Prior work mainly focus on crafting adversarial examples (AEs)…

Hybrid systems are integrations of discrete computation and continuous physical evolution. The physical components of such systems introduce safety requirements, the achievement of which asks for the correct monitoring and control from the…

This paper generalizes the control barrier function framework by replacing scalar-valued functions with matrix-valued ones. Specifically, we develop barrier conditions for safe sets defined by matrix inequalities -- both semidefinite and…

Many real-world domains require safe decision making in uncertain environments. In this work, we introduce a deep reinforcement learning framework for approaching this important problem. We consider a distribution over transition models,…

In the present paper, a robust approach to a special class of convex feasibility problems is considered. By techniques of convex and variational analysis, conditions for the existence of robust feasible solutions and related error bounds…

Robustness to distribution shift and fairness have independently emerged as two important desiderata required of modern machine learning models. While these two desiderata seem related, the connection between them is often unclear in…

Robustness of neural networks has recently attracted a great amount of interest. The many investigations in this area lack a precise common foundation of robustness concepts. Therefore, in this paper, we propose a rigorous and flexible…

In large-scale networks of uncertain dynamical systems, where communication is limited and there is a strong interaction among subsystems, learning local models and control policies offers great potential for designing high-performance…

Robustness verification that aims to formally certify the prediction behavior of neural networks has become an important tool for understanding model behavior and obtaining safety guarantees. However, previous methods can usually only…

This paper offers a direct data-driven approach for learning robust control barrier certificates (R-CBCs) and robust safety controllers (R-SCs) for discrete-time input-affine polynomial systems with unknown dynamics under…

This paper contributes a formal framework for quantitative analysis of bounded sensor attacks on cyber-physical systems, using the formalism of differential dynamic logic. Given a precondition and postcondition of a system, we formalize two…