相关论文: PRoTECT: Parallelized Construction of Safety Barri…

Established techniques that enable robots to learn from demonstrations are based on learning a stable dynamical system (DS). To increase the robots' resilience to perturbations during tasks that involve static obstacle avoidance, we propose…

This paper develops a physics-informed scenario approach for safety verification of nonlinear systems using barrier certificates (BCs) to ensure that system trajectories remain within safe regions over an infinite time horizon. Designing…

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…

We provide a novel approach to synthesize controllers for nonlinear continuous dynamical systems with control against safety properties. The controllers are based on neural networks (NNs). To certify the safety property we utilize barrier…

Safety in terms of collision avoidance for multi-robot systems is a difficult challenge under uncertainty, non-determinism and lack of complete information. This paper aims to propose a collision avoidance method that accounts for both…

We define a new class of predicates called equilevel predicates on a distributive lattice which eases the analysis of parallel algorithms. Many combinatorial problems such as the vertex cover problem, the bipartite matching problem, and the…

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…

We develop a data-driven framework for the synthesis of robust Krasovskii control barrier certificates (RK-CBC) and corresponding robust safety controllers (R-SC) for discrete-time input-affine uncertain polynomial systems with unknown…

This work is concerned with a formal approach for safety controller synthesis of stochastic control systems with both process and measurement noises while considering wireless communication networks between sensors, controllers, and…

TRUST is an open-source software tool developed for data-driven controller synthesis of dynamical systems with unknown mathematical models, ensuring either stability or safety properties. By collecting only a single input-state trajectory…

Barrier certificates provide functional overapproximations for the reachable set of dynamical systems and provide inductive guarantees on the safe evolution of the system. In automata-theoretic verification, a key query is to determine…

This work is concerned with the safety controller synthesis of stochastic hybrid systems, in which continuous evolutions are described by stochastic differential equations with both Brownian motions and Poisson processes, and instantaneous…

Providing non-trivial certificates of safety for non-linear stochastic systems is an important open problem that limits the wider adoption of autonomous systems in safety-critical applications. One promising solution to address this problem…

Barrier certificates are scalar functions over the state space of dynamical systems that separate all unsafe states from all reachable states. The existence of a barrier certificate formally verifies the safety of the dynamical system.…

In the era of rapid advancements in artificial intelligence (AI), neural network models have achieved notable breakthroughs. However, concerns arise regarding their vulnerability to adversarial attacks. This study focuses on enhancing…

We present a new approach to constructing of pseudo-random binary sequences (PRS) generators for the purpose of cryptographic data protection, secured from the perpetrator's attacks, caused by generation of masses of hardware errors and…

In this work, we study verification and synthesis problems for safety specifications over unknown discrete-time stochastic systems. When a model of the system is available, barrier certificates have been successfully applied for ensuring…

Motivated by the need to simultaneously guarantee safety and stability of safety-critical dynamical systems, we construct permissive barrier certificates in this paper that explicitly maximize the region where the system can be stabilized…

Certifying safety for nonlinear systems with polytopic input constraints is challenging because CBF synthesis must ensure control admissibility under saturation. We propose an approximation--verification pipeline that performs convex…

We present Barrier-based Simplex (Bb-Simplex), a new, provably correct design for runtime assurance of continuous dynamical systems. Bb-Simplex is centered around the Simplex control architecture, which consists of a high-performance…