相关论文: A contract negotiation scheme for safety verificat…
This paper is concerned with a compositional scheme for the construction of control barrier certificates for interconnected discrete-time stochastic systems. The main objective is to synthesize switching control policies against…
Control barrier functions are mathematical constructs used to guarantee safety for robotic systems. When integrated as constraints in a quadratic programming optimization problem, instantaneous control synthesis with real-time performance…
We consider the problem of ensuring the safety of nonlinear control systems under adversarial signals. Using Lyapunov based reachability analysis, we first give sufficient conditions to assess safety, i.e., to guarantee that the states of…
In this paper, we present the synthesis of secure-by-construction controllers that address safety and security properties simultaneously in cyber-physical systems. Our focus is on studying a specific security property called opacity, which…
Verifying specifications for large-scale modern engineering systems can be a time-consuming task, as most formal verification methods are limited to systems of modest size. Recently, contract-based design and verification has been proposed…
This work is concerned with an assume-guarantee approach to compositionally control a New England 39-bus Test System (NETS). The proposed scheme is based on the new notion of robust simulation functions with disturbance refinement alongside…
Adaptation of software components is an important issue in Component Based Software Engineering (CBSE). Building a system from reusable or Commercial-Off-The-Shelf (COTS) components introduces a set of problems, mainly related to…
This work presents a computationally efficient approach to data-driven robust contracting controller synthesis for polynomial control-affine systems based on a sum-of-squares program. In particular, we consider the case in which a system…
The realizability problem in requirements engineering is to determine the existence of an implementation that meets the given formal requirements. A step forward after realizability is proven, is to construct such an implementation…
This paper presents a method for the simultaneous synthesis of a barrier certificate and a safe controller for discrete-time nonlinear stochastic systems. Our approach, based on piecewise stochastic control barrier functions, reduces the…
In this work, we propose a compositional framework for the construction of control barrier functions for networks of continuous-time stochastic hybrid systems enforcing complex logic specifications expressed by finite-state automata. The…
This work presents a sum-of-squares (SOS) based framework to perform data-driven stabilization and robust control tasks on discrete-time linear systems where the full-state observations are corrupted by L-infinity bounded input,…
Cyber-physical systems (CPS) are assemblies of networked, heterogeneous, hardware, and software components sensing, evaluating, and actuating a physical environment. This heterogeneity induces complexity that makes CPSs challenging to model…
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,…
As autonomy becomes prevalent in many applications, ranging from recommendation systems to fully autonomous vehicles, there is an increased need to provide safety guarantees for such systems. The problem is difficult, as these are large,…
Control systems often need to satisfy strict safety requirements. Safety index provides a handy way to evaluate the safety level of the system and derive the resulting safe control policies. However, designing safety index functions under…
This paper introduces the notion of an Input Constrained Control Barrier Function (ICCBF), as a method to synthesize safety-critical controllers for non-linear control affine systems with input constraints. The method identifies a subset of…
We propose a resilience-based framework for computing feasible assume-guarantee contracts that ensure the satisfaction of temporal specifications in interconnected discrete-time systems. Interconnection effects are modeled as structured…
Safety is closely related to set invariance for dynamical systems. However, synthesizing a safe invariant set and at the same time synthesizing the associated safe controller still remains challenging. In this note we introduce a simple…
We present Assume-Guarantee-Repair (AGR) - a novel framework which verifies that a program satisfies a set of properties and also repairs the program in case the verification fails. We consider communicating programs - these are simple…