相关论文: Closure Certificates
In modern robotics, addressing the lack of accurate state space information in real-world scenarios has led to a significant focus on utilizing visuomotor observation to provide safety assurances. Although supervised learning methods, such…
Online-safety regulation under the UK Online Safety Act and the EU Digital Services Act increasingly treats scalar metrics as compliance evidence. Once announced, such a metric also becomes an optimization target: a strategic platform can…
Training Neural Networks (NNs) to serve as Barrier Functions (BFs) is a popular way to improve the safety of autonomous dynamical systems. Despite significant practical success, these methods are not generally guaranteed to produce true BFs…
We study the problem of co-designing control barrier functions and linear state feedback controllers for discrete-time linear systems affected by additive disturbances. For disturbances of bounded magnitude, we provide a semi-definite…
In this paper, we propose a notion of high-order (zeroing) barrier functions that generalizes the concept of zeroing barrier functions and guarantees set forward invariance by checking their higher order derivatives. The proposed…
Certifying verification algorithms not only return whether a given property holds or not, but also provide an accompanying independently checkable certificate and a corresponding witness. The certificate can be used to easily validate the…
We introduce an automated, formal, counterexample-based approach to synthesise Barrier Certificates (BC) for the safety verification of continuous and hybrid dynamical models. The approach is underpinned by an inductive framework: this is…
Multi-objective safety-critical control entails a diligent design to avoid possibly conflicting scenarios and ensure safety. This paper addresses multi-objective safety-critical control through a novel approach utilizing barrier states…
Almost sure reachability refers to the property of a stochastic system whereby, from any initial condition, the system state reaches a given target set with probability one. In this paper, we study the problem of certifying almost sure…
We consider the problem of safety verification and safety-aware controller synthesis for systems with sector bounded nonlinearities. We aim to keep the states of the system within a given safe set under potential actuator and sensor…
Constrained attitude maneuvers have numerous applications in robotics and aerospace. In our previous work, a general framework to this problem was proposed with resolution completeness guarantee. However, a smooth reference trajectory and a…
The goal of this paper is certifying safety of dynamical systems subject to uncertainty. Existing approaches use trajectory data to estimate transition probabilities, and compute safety probabilities recursively via dynamic programming…
Stateflow models are complex software models, often used as part of industrial safety-critical software solutions designed with Matlab Simulink. Being part of safety-critical solutions, these models require the application of rigorous…
In this paper, we consider the problem of verifying safety constraint satisfaction for single-input single-output systems with uncertain transfer function coefficients. We propose a new type of barrier function based on a vector norm. This…
Performing swift and agile maneuvers is essential for the safe operation of autonomous mobile robots. Moreover, the presence of time-delay restricts the response time of the system and hinders the safety performance. Thus, this paper…
Accurate quantification of safety is essential for the design of autonomous systems. In this paper, we present a methodology to characterize the exact probabilities associated with invariance and recovery in safe control. We consider a…
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,…
The barrier function method for safety control typically assumes the availability of full state information. Unfortunately, in many scenarios involving uncertain dynamical systems, full state information is often unavailable. In this paper,…
This paper studies satisfying temporal logic specifications on stochastic dynamical systems, where the predicates evolve randomly over time. Such randomness may arise from uncertain environment models or external stochastic processes…
This paper is concerned with path-complete barrier functions which offer a graph-based methodology for verifying safety properties in switched systems. The path-complete framework leverages algebraic (barrier functions) as well as…