相关论文: Stochastic Barrier Certificates in the Presence of…

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…

In this paper, we address the real-time risk-bounded safety verification problem of continuous-time state trajectories of autonomous systems in the presence of uncertain time-varying nonlinear safety constraints. Risk is defined as the…

In this paper, we present a novel data-driven approach to quantify safety for non-linear, discrete-time stochastic systems with unknown noise distribution. We define safety as the probability that the system remains in a given region of the…

This paper introduces a method of identifying a maximal set of safe strategies from data for stochastic systems with unknown dynamics using barrier certificates. The first step is learning the dynamics of the system via Gaussian process…

In this paper we present a dynamic programing approach to stochastic optimal control problems with dynamic, time-consistent risk constraints. Constrained stochastic optimal control problems, which naturally arise when one has to consider…

This paper establishes the equivalence between robust safety and the existence of a barrier function certificate for differential inclusions. More precisely, for a robustly-safe differential inclusion, a barrier function is constructed as…

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…

Algorithmic verification of realistic systems to satisfy safety and other temporal requirements has suffered from poor scalability of the employed formal approaches. To design systems with rigorous guarantees, many approaches still rely on…

This paper is concerned with a compositional scheme for the construction of control barrier certificates for interconnected discrete-time stochastic systems. The main objective is to synthesize switching control policies against…

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 paper studies finite-time safety and reach-avoid verification for stochastic discrete-time dynamical systems. The aim is to ascertain lower and upper bounds of the probability that, within a predefined finite-time horizon, a system…

Robots deployed in unstructured, real-world environments operate under considerable uncertainty due to imperfect state estimates, model error, and disturbances. Given this real-world context, the goal of this paper is to develop controllers…

In this paper we consider the safety verification and safe controller synthesis problems for nonlinear control systems. The Control Barrier Certificates (CBC) approach is proposed as an extension to the Barrier certificates approach. Our…

A barrier certificate, defined over the states of a dynamical system, is a real-valued function whose zero level set characterizes an inductively verifiable state invariant separating reachable states from unsafe ones. When combined with…

We study the safety verification problem for discrete-time stochastic systems. We propose an approach for safety verification termed set-erosion strategy that verifies the safety of a stochastic system on a safe set through the safety of…

Barrier functions (BFs) characterize safe sets of dynamical systems, where hard constraints are never violated as the system evolves over time. Computing a valid safe set and BF for a nonlinear (and potentially unmodeled), non-autonomous…

In this paper, we propose a method for bounding the probability that a stochastic differential equation (SDE) system violates a safety specification over the infinite time horizon. SDEs are mathematical models of stochastic processes that…

Almost sure reachability refers to the property of a stochastic system whereby, from any initial condition, the system state reaches a given target set with probability one. In this paper, we study the problem of certifying almost sure…

Stable dynamical systems are a flexible tool to plan robotic motions in real-time. In the robotic literature, dynamical system motions are typically planned without considering possible limitations in the robot's workspace. This work…

A barrier certificate is an inductive invariant function which can be used for the safety verification of a hybrid system. Safety verification based on barrier certificate has the benefit of avoiding explicit computation of the exact…