相关论文: Data-Driven Safety Verification using Barrier Cert…

The increasing automation of vehicles is resulting in the integration of more extensive in-vehicle sensor systems, electronic control units, and software. Additionally, vehicle-to-everything communication is seen as an opportunity to extend…

Safety control of dynamical systems using barrier functions relies on knowing the full state information. This paper introduces a novel approach for safety control in uncertain MIMO systems with partial state information. The proposed…

This paper addresses the problem of data-driven modeling and verification of perception-based autonomous systems. We assume the perception model can be decomposed into a canonical model (obtained from first principles or a simulator) and a…

Datasets are essential to apply AI algorithms to Cyber Physical System (CPS) Security. Due to scarcity of real CPS datasets, researchers elected to generate their own datasets using either real or virtualized testbeds. However, unlike other…

We study the safety verification problem for a class of distributed parameter systems described by partial differential equations (PDEs), i.e., the problem of checking whether the solutions of the PDE satisfy a set of constraints at a…

This paper studies the problem of enforcing safety of a stochastic dynamical system over a finite-time horizon. We use stochastic control barrier functions as a means to quantify the probability that a system exits a given safe region of…

In this paper, we consider the problem of input-output data-driven sensor selection for unknown cyber-physical systems (CPS). In particular, out of a large set of sensors available for use, we choose a subset of them that maximizes a metric…

This paper presents the gatekeeper algorithm, a real-time and computationally-lightweight method that ensures that trajectories of a nonlinear system satisfy safety constraints despite sensing limitations. gatekeeper integrates with…

A cryptographic protocol (CP) is a distributed algorithm designed to provide a secure communication in an insecure environment. CPs are used, for example, in electronic payments, electronic voting procedures, database access systems, etc.…

Stability certificates play a critical role in ensuring the safety and reliability of robotic systems. However, deriving these certificates for complex, unknown systems has traditionally required explicit knowledge of system dynamics, often…

Cyber Physical Systems (CPS) enable new kinds of applications as well as significant improvements of existing ones in numerous different application domains. A major trait of upcoming CPS is an increasing degree of automation up to the…

Differential-algebraic equations (DAEs) arise in power networks, chemical processes, and multibody systems, where algebraic constraints encode physical conservation laws. The safety of such systems is critical, yet safe control is…

Autonomous systems are often deployed in complex sociotechnical environments, such as public roads, where they must behave safely and securely. Unlike many traditionally engineered systems, autonomous systems are expected to behave…

Modern nonlinear control theory seeks to endow systems with properties such as stability and safety, and has been deployed successfully across various domains. Despite this success, model uncertainty remains a significant challenge in…

Cyber-physical systems (CPS) are interconnected architectures that employ analog, digital, and communication resources for their interaction with the physical environment. CPS are the backbone of enterprise, industrial, and critical…

Controlling stochastic systems with unknown dynamics and under complex specifications is specially challenging in safety-critical settings, where performance guarantees are essential. We propose a data-driven policy synthesis framework that…

In the realm of control systems, model predictive control (MPC) has exhibited remarkable potential; however, its reliance on accurate models and substantial computational resources has hindered its broader application, especially within…

Current cyber-physical systems (CPS) are expected to accomplish complex tasks. To achieve this goal, high performance, but unverified controllers (e.g. deep neural network, black-box controllers from third parties) are applied, which makes…

Some hybrid systems models are unsafe for mathematically correct but physically unrealistic reasons. For example, mathematical models can classify a system as being unsafe on a set that is too small to have physical importance. In…

Safety-critical distributed cyber-physical systems (CPSs) have been found in a wide range of applications. Notably, they have displayed a great deal of utility in intelligent transportation, where autonomous vehicles communicate and…