相关论文: Bridging Control with Neural Network Verifier alph…

Barrier certificates play an important role in verifying the safety of continuous-time systems, including autonomous driving, robotic manipulators and other critical applications. Recently, ReLU neural barrier certificates -- barrier…

In this paper, we develop a novel adaptation-based approach to constrained control design under multiple state and input constraints. Specifically, we introduce a method for synthesizing any number of time-varying candidate control barrier…

With the rapid development of deep learning, the sizes of neural networks become larger and larger so that the training and inference often overwhelm the hardware resources. Given the fact that neural networks are often over-parameterized,…

Platooning can serve as an effective management measure for connected and autonomous vehicles (CAVs) to ensure overall traffic efficiency. Current study focus on the longitudinal control of CAV platoons, however it still remains a…

The Gene Regulatory Network (GRN) of biological cells governs a number of key functionalities that enables them to adapt and survive through different environmental conditions. Close observation of the GRN shows that the structure and…

Rule-based systems remain central in safety-critical domains but often struggle with scalability, brittleness, and goal misspecification. These limitations can lead to reward hacking and failures in formal verification, as AI systems tend…

Power electronic converter control is typically tuned per topology, limiting transfer across heterogeneous designs. This letter proposes a topology-agnostic meta-control framework that encodes converter netlists as typed bipartite graphs…

Reference tracking is a key objective in many control systems, including those characterized by complex nonlinear dynamics. In these settings, traditional control approaches can effectively ensure steady-state accuracy but often struggle to…

This work presents a new sufficient condition for synthesizing nonlinear controllers that yield bounded closed-loop tracking error transients despite the presence of unmatched uncertainties that are concurrently being learned online. The…

Control barrier functions (CBFs) are important in safety-critical systems and robot control applications. Neural networks have been used to parameterize and synthesize CBFs with bounded control input for complex systems. However, it is…

Barrier functions (also called certificates) have been an important tool for the verification of hybrid systems, and have also played important roles in optimization and multi-objective control. The extension of a barrier function to a…

While automated driving technology has achieved a tremendous progress, the scalable and rigorous testing and verification of safe automated and autonomous driving vehicles remain challenging. This paper proposes a learning-based…

This paper proposes a computationally efficient framework, based on interval analysis, for rigorous verification of nonlinear continuous-time dynamical systems with neural network controllers. Given a neural network, we use an existing…

In recent years, deep reinforcement learning (DRL) approaches have generated highly successful controllers for a myriad of complex domains. However, the opaque nature of these models limits their applicability in aerospace systems and…

The rapid advance of deep reinforcement learning techniques enables the oversight of safety-critical systems through the utilization of Deep Neural Networks (DNNs). This underscores the pressing need to promptly establish certified safety…

Transformer verification draws increasing attention in machine learning research and industry. It formally verifies the robustness of transformers against adversarial attacks such as exchanging words in a sentence with synonyms. However,…

We study the problem of target stabilization with robust obstacle avoidance in robots and vehicles that have access only to vision-based sensors for the purpose of realtime localization. This problem is particularly challenging due to the…

In this paper, we propose a deep learning based control synthesis framework for fast and online computation of controllers that guarantees the safety of general nonlinear control systems with unknown dynamics in the presence of input…

With the increasing application of deep learning in mission-critical systems, there is a growing need to obtain formal guarantees about the behaviors of neural networks. Indeed, many approaches for verifying neural networks have been…

We introduce an automated, formal, counterexample-based approach to synthesise Barrier Certificates (BC) for the safety verification of continuous and hybrid dynamical models. The approach is underpinned by an inductive framework: this is…