相关论文: Online Data-Driven Reachability Analysis using Zon…

In this paper, we propose a data-driven reachability analysis approach for unknown system dynamics. Reachability analysis is an essential tool for guaranteeing safety properties. However, most current reachability analysis heavily relies on…

We consider the problem of computing reachable sets directly from noisy data without a given system model. Several reachability algorithms are presented for different types of systems generating the data. First, an algorithm for computing…

This paper addresses the conservatism in data-driven reachability analysis for discrete-time linear systems subject to bounded process noise, where the system matrices are unknown and only input--state trajectory data are available.…

In this paper, we propose a novel approach for computing robust backward reachable sets from noisy data for unknown constrained linear systems subject to bounded disturbances. In particular, we develop an algorithm for obtaining zonotopic…

Reachability analysis is a powerful tool for computing the set of states or outputs reachable for a system. While previous work has focused on systems described by state-space models, we present the first methods to compute reachable sets…

We employ reachability analysis in designing dynamic quantization schemes for the remote state estimation of linear systems over a finite date rate communication channel. The quantization region is dynamically updated at each transmission…

We propose a matrix zonotope perturbation framework that leverages matrix perturbation theory to characterize how noise-induced distortions alter the dynamics within sets of models. The framework derives interpretable Cai-Zhang bounds for…

One often wishes for the ability to formally analyze large-scale systems---typically, however, one can either formally analyze a rather small system or informally analyze a large-scale system. This work tries to further close this…

This paper presents a novel algorithm for reachability analysis of nonlinear discrete-time systems. The proposed method combines constrained zonotopes (CZs) with polyhedral relaxations of factorable representations of nonlinear functions to…

In real world applications, uncertain parameters are the rule rather than the exception. We present a reachability algorithm for linear systems with uncertain parameters and inputs using set propagation of polynomial zonotopes. In contrast…

Hybrid systems play a crucial role in modeling real-world applications where discrete and continuous dynamics interact, including autonomous vehicles, power systems, and traffic networks. Safety verification for these systems requires…

In this work, we perform safety analysis of linear dynamical systems with uncertainties. Instead of computing a conservative overapproximation of the reachable set, our approach involves computing a statistical approximate reachable set. As…

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…

We present a data-driven framework for reachability analysis of nonlinear dynamical systems that requires no explicit model. A denoising diffusion probabilistic model learns the time-evolving state distribution of a dynamical system from…

This work proposes a robust data-driven predictive control approach for unknown nonlinear systems in the presence of bounded process and measurement noise. Data-driven reachable sets are employed for the controller design instead of using…

Feedforward neural networks are widely used in autonomous systems, particularly for control and perception tasks within the system loop. However, their vulnerability to adversarial attacks necessitates formal verification before deployment…

Reachability analysis is a popular method to give safety guarantees for stochastic cyber-physical systems (SCPSs) that takes in a symbolic description of the system dynamics and uses set-propagation methods to compute an overapproximation…

In this paper, we present a framework for online parameter estimation and uncertainty quantification in the context of adaptive safety-critical control. The key insight enabling our approach is that the parameter estimate generated by the…

Inner-approximate reachability analysis involves calculating subsets of reachable sets, known as inner-approximations. This analysis is crucial in the fields of dynamic systems analysis and control theory as it provides a reliable…

Zonotopes are widely used for over-approximating forward reachable sets of uncertain linear systems for verification purposes. In this paper, we use zonotopes to achieve more scalable algorithms that under-approximate backward reachable…