相关论文: Closure Certificates
In this paper, we propose a compositional framework for the construction of control barrier certificates for large-scale stochastic switched systems accepting multiple control barrier certificates with some dwell-time conditions. The…
Guaranteeing safe behaviour of reinforcement learning (RL) policies poses significant challenges for safety-critical applications, despite RL's generality and scalability. To address this, we propose a new approach to apply verification…
This work is concerned with synthesizing safety controllers for discrete-time nonlinear systems beyond polynomials with unknown mathematical models using the notion of k-inductive control barrier certificates (k-CBCs). Conventional CBC…
This work applies universal adaptive control to control barrier functions to achieve forward invariance of a safe set despite the presence of unmatched parametric uncertainties. The approach combines two ideas. The first is to construct a…
A key property for systems subject to uncertainty in their operating environment is robustness, ensuring that unmodelled, but bounded, disturbances have only a proportionally bounded effect upon the behaviours of the system. Inspired by…
In model-based reinforcement learning for safety-critical control systems, it is important to formally certify system properties (e.g., safety, stability) under the learned controller. However, as existing methods typically apply formal…
Privacy is an increasing concern in cyber-physical systems that operates over a shared network. In this paper, we propose a method for privacy verification of cyber- physical systems modeled by Markov decision processes (MDPs) and…
This paper studies the design of controllers for discontinuous dynamics that ensure the safety of non-smooth sets. The safe set is represented by arbitrarily nested unions and intersections of 0-superlevel sets of differentiable functions.…
Regular model checking is a technique for the verification of infinite-state systems whose configurations can be represented as finite words over a suitable alphabet. The form we are studying applies to systems whose set of initial…
This paper presents a formal framework for collision avoidance in multi-robot systems, wherein an existing controller is modified in a minimally invasive fashion to ensure safety. We build this framework through the use of control barrier…
Distributed certification, whether it be proof-labeling schemes, locally checkable proofs, etc., deals with the issue of certifying the legality of a distributed system with respect to a given boolean predicate. A certificate is assigned to…
This paper considers the general problem of transitioning theoretically safe controllers to hardware. Concretely, we explore the application of control barrier functions (CBFs) to sampled-data systems: systems that evolve continuously but…
In recent years, the analysis of a control barrier function has received considerable attention because it is helpful for the safety-critical control required in many control application problems. While the extension of the analysis to a…
Privacy-aware processing of personal data on the web of services requires managing a number of issues arising both from the technical and the legal domain. Several approaches have been proposed to matching privacy requirements (on the…
We study the problem of {\sl certification}: given queries to a function $f : \{0,1\}^n \to \{0,1\}$ with certificate complexity $\le k$ and an input $x^\star$, output a size-$k$ certificate for $f$'s value on $x^\star$. This abstractly…
In this article, the problem of synthesizing switching controllers is considered through the synthesis of a "control certificate". Control certificates include control barrier and Lyapunov functions, which represent control strategies, and…
This work develops a robust adaptive control strategy for discrete-time systems using Control Barrier Functions (CBFs) to ensure safety under parametric model uncertainty and disturbances. A key contribution of this work is establishing a…
This paper addresses the critical challenge of developing data-driven certificates for the stability and safety of unmodeled dynamical systems by leveraging a tree data structure and an upper bound of the system's Lipschitz constant.…
This paper presents a novel approach for the safe control design of systems with parametric uncertainties in both drift terms and control-input matrices. The method combines control barrier functions and adaptive laws to generate a safe…
The safety of mobile robots in dynamic environments is predicated on making sure that they do not collide with obstacles. In support of such safety arguments, we analyze and formally verify a series of increasingly powerful safety…