相关论文: Bootstrapping Guarantees: Stability and Performanc…
A dynamical decoupling method is presented which is based on embedding a deterministic decoupling scheme into a stochastic one. This way it is possible to combine the advantages of both methods and to increase the suppression of undesired…
Safety in dynamic systems with prevalent uncertainties is crucial. Current robust safe controllers, designed primarily for uni-modal uncertainties, may be either overly conservative or unsafe when handling multi-modal uncertainties. To…
Task-space quadratic programming (QP) is an elegant approach for controlling robots subject to constraints. Yet, in the case of kinematic-controlled (i.e., high-gains position or velocity) robots, closed-loop QP control scheme can be prone…
We propose a methodology for constructing confidence regions with partially identified models of general form. The region is obtained by inverting a test of internal consistency of the econometric structure. We develop a dilation bootstrap…
Sustained research efforts have been devoted to learning optimal controllers for linear stochastic dynamical systems with unknown parameters, but due to the corruption of noise, learned controllers are usually uncertified in the sense that…
This paper studies the problem of safe stabilization of control-affine systems under uncertainty. Our starting point is the availability of worst-case or probabilistic error descriptions for the dynamics and a control barrier function…
A fully homomorphic encryption system hides data from unauthorized parties, while still allowing them to perform computations on the encrypted data. Aside from the straightforward benefit of allowing users to delegate computations to a more…
Despite their success in massive engineering applications, deep neural networks are vulnerable to various perturbations due to their black-box nature. Recent study has shown that a deep neural network can misclassify the data even if the…
Homomorphic encryption is a form of encryption which allows computation to be carried out on the encrypted data without the need for decryption. The success of quantum approaches to related tasks in a delegated computation setting has…
Approaches to keeping a dynamical system within state constraints typically rely on a model-based safety condition to limit the control signals. In the face of significant modeling uncertainty, the system can suffer from important…
Envisioned applications for humanoid robots call for the design of balancing and walking controllers. While promising results have been recently achieved, robust and reliable controllers are still a challenge for the control community…
Sustained research efforts have been devoted to learning optimal controllers for linear stochastic dynamical systems with unknown parameters, but due to the corruption of noise, learned controllers are usually uncertified in the sense that…
This paper considers the use of fully homomorphic encryption for the realisation of distributed formation control of multi-agent systems via edge computer. In our proposed framework, the distributed control computation in the edge computer…
Robust control is a core approach for controlling systems with performance guarantees that are robust to modeling error, and is widely used in real-world systems. However, current robust control approaches can only handle small system…
Motivated by the fragility of neural network (NN) controllers in safety-critical applications, we present a data-driven framework for verifying the risk of stochastic dynamical systems with NN controllers. Given a stochastic control system,…
Bootstrapping can produce confidence levels for hypotheses about quadratic regression models - such as whether the U-shape is inverted, and the location of optima. The method has several advantages over conventional methods: it provides…
The growing complexity of modern control tasks calls for controllers that can react online as objectives and disturbances change, while preserving closed-loop stability. Recent approaches for improving the performance of nonlinear systems…
Recent advances in cryptography promise to enable secure statistical computation on encrypted data, whereby a limited set of operations can be carried out without the need to first decrypt. We review these homomorphic encryption schemes in…
Automated synthesis of correct-by-construction controllers for autonomous systems is crucial for their deployment in safety-critical scenarios. Such autonomous systems are naturally modeled as stochastic dynamical models. The general…
We present in this paper a study on the ability and the benefits of using a keystroke dynamics authentication method for collaborative systems. Authentication is a challenging issue in order to guarantee the security of use of collaborative…