Sparse polynomial zonotopes: A novel set representation for reachability analysis
We introduce sparse polynomial zonotopes, a new set representation for formal verification
of hybrid systems. Sparse polynomial zonotopes can represent nonconvex sets and are …
of hybrid systems. Sparse polynomial zonotopes can represent nonconvex sets and are …
ARCH-COMP23 category report: Artificial intelligence and neural network control systems (AINNCS) for continuous and hybrid systems plants
This report presents the results of a friendly competition for formal verification of continuous
and hybrid systems with artificial intelligence (AI) components. Specifically, machine …
and hybrid systems with artificial intelligence (AI) components. Specifically, machine …
Collision avoidance for autonomous vehicles using reachability-based trajectory planning in highway driving
As vehicle applications have evolved to a more intelligent and self-driving stage,
autonomous vehicles have attracted more attention in recent years. This paper proposes a …
autonomous vehicles have attracted more attention in recent years. This paper proposes a …
Scalable and safe multi-agent motion planning with nonlinear dynamics and bounded disturbances
We present a scalable and effective multi-agent safe motion planner that enables a group of
agents to move to their desired locations while avoiding collisions with obstacles and other …
agents to move to their desired locations while avoiding collisions with obstacles and other …
Guaranteed set-membership estimation for local nonlinear uncertain fuzzy systems subject to partially decouplable unknown inputs
Local nonlinear fuzzy systems are useful for control solutions due to their ability to handle
unmeasurable/inexact premise variables and reduce computational complexity. However …
unmeasurable/inexact premise variables and reduce computational complexity. However …
ARCH-COMP20 category report: artificial intelligence and neural network control systems (AINNCS) for continuous and hybrid systems plants
This report presents the results of a friendly competition for formal verification of continuous
and hybrid systems with artificial intelligence (AI) components. Specifically, machine …
and hybrid systems with artificial intelligence (AI) components. Specifically, machine …
[HTML][HTML] Distributed set-based observers using diffusion strategies
We propose two distributed set-based observers using strip-based and set-propagation
approaches for linear discrete-time dynamical systems with bounded modeling and …
approaches for linear discrete-time dynamical systems with bounded modeling and …
NeuReach: Learning reachability functions from simulations
We present NeuReach, a tool that uses neural networks for predicting reachable sets from
executions of a dynamical system. Unlike existing reachability tools, NeuReach computes a …
executions of a dynamical system. Unlike existing reachability tools, NeuReach computes a …
Approximating reachable sets for neural network-based models in real time via optimal control
In this brief, we present a data-driven framework for real-time estimation of reachable sets for
control systems where the plant is modeled using neural networks (NNs). We utilize a …
control systems where the plant is modeled using neural networks (NNs). We utilize a …
Resource-aware estimation and control for edge robotics: A set-based approach
The evolution of the Industrial Internet of Things (IIoT) and edge computing enables
resource-constrained mobile robots to offload the computationally intensive localization …
resource-constrained mobile robots to offload the computationally intensive localization …