相关论文: Polynomial-Time Reachability for LTI Systems with …

We study the problem of stabilizing an unknown partially observable linear time-invariant (LTI) system. For fully observable systems, leveraging an unstable/stable subspace decomposition approach, state-of-art sample complexity is…

In this paper, we present an approach for designing feedback controllers for polynomial systems that maximize the size of the time-limited backwards reachable set (BRS). We rely on the notion of occupation measures to pose the synthesis…

Robust motion planning entails computing a global motion plan that is safe under all possible uncertainty realizations, be it in the system dynamics, the robot's initial position, or with respect to external disturbances. Current approaches…

We study the problem of learning to stabilize (LTS) a linear time-invariant (LTI) system. Policy gradient (PG) methods for control assume access to an initial stabilizing policy. However, designing such a policy for an unknown system is one…

In this note, we consider the problem of choosing which nodes of a linear dynamical system should be actuated so that the state transfer from the system's initial condition to a given final state is possible. Assuming a standard complexity…

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…

This work investigates robust monotonic convergent iterative learning control (ILC) for uncertain linear systems in both time and frequency domains, and the ILC algorithm optimizing the convergence speed in terms of $l_{2}$ norm of error…

This paper investigates reachability analysis for max-plus linear systems (MPLS), an important class of dynamical systems that model synchronization and delay phenomena in timed discrete-event systems. We specifically focus on backward…

As neural networks (NNs) become more prevalent in safety-critical applications such as control of vehicles, there is a growing need to certify that systems with NN components are safe. This paper presents a set of backward reachability…

In this paper, we introduce a hybrid zonotope-based approach for formally verifying the behavior of autonomous systems operating under Linear Temporal Logic (LTL) specifications. In particular, we formally verify the LTL formula by…

In this work, we perform safety analysis of linear dynamical systems with uncertainties. Instead of computing a conservative overapproximation of the reachable set, our approach involves computing a statistical approximate reachable set. As…

A common problem affecting neural network (NN) approximations of model predictive control (MPC) policies is the lack of analytical tools to assess the stability of the closed-loop system under the action of the NN-based controller. We…

We introduce a concept of efficiency for which we can prove that it applies to all paddable languages, but still does not conflict with potential worst case intractability. Note that the family of paddable languages apparently includes all…

In recent years, artificial neural networks have been increasingly studied as feedback controllers for guidance problems. While effective in complex scenarios, they lack the verification guarantees found in classical guidance policies.…

We present a method to over-approximate reachable tubes over compact time-intervals, for linear continuous-time, time-varying control systems whose initial states and inputs are subject to compact convex uncertainty. The method uses…

We present a method to compute the stochastic reachability safety probabilities for high-dimensional stochastic dynamical systems. Our approach takes advantage of a nonparametric learning technique known as conditional distribution…

Lattice reduction algorithms have numerous applications in number theory, algebra, as well as in cryptanalysis. The most famous algorithm for lattice reduction is the LLL algorithm. In polynomial time it computes a reduced basis with…

This paper presents a method to identify an uncertain linear time-invariant (LTI) prediction model for tube-based Robust Model Predictive Control (RMPC). The uncertain model is determined from a given state-input dataset by formulating and…

We propose a new LMI approach to the design of optimal switching sequences for polynomial dynamical systems with state constraints. We formulate the switching design problem as an optimal control problem which is then relaxed to a linear…

A framework is presented for the verification of Signal Temporal Logic (STL) specifications over continuous-time nonlinear systems under uncertainty. Based on reachability analysis, the proposed method addresses indeterminate satisfaction…