相关论文: Bezier Reachable Polytopes: Efficient Certificates…

The paper presents Maximal Covariance Backward Reachable Trees (MAXCOVAR BRT), which is a multi-query algorithm for planning of dynamic systems under stochastic motion uncertainty and constraints on the control input with explicit coverage…

In this paper, we propose a data-driven approach to formally verify the safety of (potentially) unknown discrete-time continuous-space stochastic systems. The proposed framework is based on a notion of barrier certificates together with…

This paper presents a novel algorithm for robot task and motion planning (TAMP) problems by utilizing a reachability tree. While tree-based algorithms are known for their speed and simplicity in motion planning (MP), they are not…

To verify the correct operation of systems, engineers need to determine the set of configurations of a dynamical model that are able to safely reach a specified configuration under a control law. Unfortunately, constructing models for…

Current network control plane verification tools cannot scale to large networks, because of the complexity of jointly reasoning about the behaviors of all nodes in the network. In this paper we present a modular approach to control plane…

Neural certificates have emerged as a powerful tool in cyber-physical systems control, providing witnesses of correctness. These certificates, such as barrier functions, often learned alongside control policies, once verified, serve as…

In this work, we present a numerical optimal control framework for reachable set computation using \emph{normotopes}, a new set representation as a norm ball with a shaping matrix. In reachable set computations, we expect to continuously…

The periodic inspection of vessels is a fundamental task to ensure their integrity and avoid maritime accidents. Currently, these inspections represent a high cost for the ship owner, in addition to the danger that this kind of hostile…

Regional planning processes and associated redevelopment projects can be complex due to the vast amount of diverse data involved. However, all of this data shares a common geographical reference, especially in the renaturation of former…

This paper investigates one-step backward reachability for uncertain max-plus linear systems with additive disturbances. Given a target set, the problem is to compute the set of states from which there exists an admissible control input…

We present a robust data-driven control scheme for an unknown linear system model with bounded process and measurement noise. Instead of depending on a system model in traditional predictive control, a controller utilizing data-driven…

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…

With growing system complexity and closer cyber-physical interaction, there are increasingly stronger dependencies between different function and architecture layers in automotive systems. This paper first introduces several cross-layer…

This work addresses the critical challenge of guaranteeing safety for complex dynamical systems where precise mathematical models are uncertain and data measurements are corrupted by noise. We develop a physics-informed, direct data-driven…

Locomotion for legged robots poses considerable challenges when confronted by obstacles and adverse environments. Footstep planners are typically only designed for one mode of locomotion, but traversing unfavorable environments may require…

Despite large advances in recent years, real-time capable motion planning for autonomous road vehicles remains a huge challenge. In this work, we present a decision module that is based on set-based reachability analysis: First, we identify…

In this paper, we investigate the probabilistic formal verification of stochastic dynamical systems over continuous state spaces. Motivated by problems in state estimation and information-flow security, we introduce the notion of…

In this paper, we solve the problem of finding a certified control policy that drives a robot from any given initial state and under any bounded disturbance to the desired reference trajectory, with guarantees on the convergence or bounds…

An important aspect in the solution process of constraint satisfaction problems is to identify exclusion boxes which are boxes that do not contain feasible points. This paper presents a certificate of infeasibility for finding such boxes by…

We present a safe-by-design trajectory planning and tracking framework for nonlinear dynamical systems using a hierarchy of system models. The planning layer uses a low-fidelity model to plan a feasible trajectory satisfying the planning…