相关论文: Quantitative Verification of Finite-Time Constrain…
We establish finite sample certificates on the quality of solutions produced by data-based forward-backward (FB) operator splitting schemes. As frequently happens in stochastic regimes, we consider the problem of finding a zero of the sum…
In this letter, we detail our randomized approach to safety-critical system verification. Our method requires limited system data to make a strong verification statement. Specifically, our method first randomly samples initial conditions…
In this paper, a method to achieve smooth transitions between sequential reachability tasks for a continuous time mobile robotic system is presented. Control barrier functions provide formal guarantees of forward invariance of safe sets and…
Providing safety guarantees for stochastic dynamical systems is a central problem in various fields, including control theory, machine learning, and robotics. Existing methods either employ Stochastic Barrier Functions (SBFs) or rely on…
This paper studies the problem of finite-time convergence to a prescribed safe set for nonlinear systems whose initial states violate the safety constraints. Existing Control Lyapunov-Barrier Functions (CLBFs) can enforce recovery to the…
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.…
The paper introduces a novel algorithm for computing the output admissible set of linear discrete-time systems subject to input saturation. The proposed method takes advantage of the piecewise-affine dynamics to propagate the output…
In this paper, a method to synthesize controllers using finite time convergence control barrier functions guided by linear temporal logic specifications for continuous time multi-agent dynamical systems is proposed. Finite time convergence…
In this paper, we present an algorithm for synthesizing certificates---so-called barrier certificates---for safety of hybrid dynamical systems. Unlike the usual approach of using constraint solvers to compute the certificate from the system…
In this paper, we compute finite sample bounds for data-driven approximations of the solution to stochastic reachability problems. Our approach uses a nonparametric technique known as kernel distribution embeddings, and provides…
Control Invariant (CI) sets are instrumental in certifying the safety of dynamical systems. Control Barrier Functions (CBFs) are effective tools to compute such sets, since the zero sublevel sets of CBFs are CI sets. However, computing CBFs…
In this paper, we consider the use of barrier function-based approaches for the safe control problem in stochastic systems. With the presence of stochastic uncertainties, a myopic controller that ensures safe probability in infinitesimal…
Reachability analysis of hybrid systems has been used as a safety verification tool to assess offline whether the state of a system is capable of remaining within a designated safe region for a given time horizon. Although it has been…
Control Barrier Functions (CBFs) have been demonstrated to be a powerful tool for safety-critical controller design for nonlinear systems. Existing design paradigms do not address the gap between theory (controller design with continuous…
Estimating the steady-state properties of open many-body quantum systems is a fundamental challenge in quantum science and technologies. In this work, we present a scalable approach based on semi-definite programming to derive certified…
This work develops a robust adaptive control strategy for discrete-time systems using Control Barrier Functions (CBFs) to ensure safety under parametric model uncertainty and disturbances. A key contribution of this work is establishing a…
In this paper we propose a novel semi-definite programming approach that solves reach-avoid problems over open (i.e., not bounded a priori) time horizons for dynamical systems modeled by polynomial stochastic differential equations. The…
Given a stochastic dynamical system modelled via stochastic differential equations (SDEs), we evaluate the safety of the system through characterizations of its exit time moments. We lift the (possibly nonlinear) dynamics into the space of…
Systems in many safety-critical application domains are subject to certification requirements. In such a system, there are typically different applications providing functionalities that have varying degrees of criticality. Consequently,…
We propose a method for computing bounds on output functionals of a class of time-dependent PDEs. To this end, we introduce barrier functionals for PDE systems. By defining appropriate unsafe sets and optimization problems, we formulate an…