Secure-by-construction synthesis of cyber-physical systems
Correct-by-construction synthesis is a cornerstone of the confluence of formal methods and
control theory towards designing safety-critical systems. Instead of following the time-tested …
control theory towards designing safety-critical systems. Instead of following the time-tested …
Safety-critical control for autonomous systems: Control barrier functions via reduced-order models
Modern autonomous systems, such as flying, legged, and wheeled robots, are generally
characterized by high-dimensional nonlinear dynamics, which presents challenges for …
characterized by high-dimensional nonlinear dynamics, which presents challenges for …
Control barriers in bayesian learning of system dynamics
This article focuses on learning a model of system dynamics online, while satisfying safety
constraints. Our objective is to avoid offline system identification or hand-specified models …
constraints. Our objective is to avoid offline system identification or hand-specified models …
Probabilistic safety constraints for learned high relative degree system dynamics
This paper focuses on learning a model of system dynamics online while satisfying safety
constraints. Our motivation is to avoid offline system identification or hand-specified …
constraints. Our motivation is to avoid offline system identification or hand-specified …
Verification and synthesis of control barrier functions
A Clark - 2021 60th IEEE Conference on Decision and Control …, 2021 - ieeexplore.ieee.org
Control systems often must satisfy strict safety requirements over an extended operating
lifetime. Control Barrier Functions (CBFs) are a promising recent approach to constructing …
lifetime. Control Barrier Functions (CBFs) are a promising recent approach to constructing …
Runtime assurance for safety-critical systems: An introduction to safety filtering approaches for complex control systems
More than three miles above the Arizona desert, an F-16 student pilot experienced a gravity-
induced loss of consciousness, passing out while turning at nearly 9Gs (nine times the force …
induced loss of consciousness, passing out while turning at nearly 9Gs (nine times the force …
Safety certification for stochastic systems via neural barrier functions
Providing non-trivial certificates of safety for non-linear stochastic systems is an important
open problem. One promising solution to address this problem is the use of barrier functions …
open problem. One promising solution to address this problem is the use of barrier functions …
Compositional policy learning in stochastic control systems with formal guarantees
Reinforcement learning has shown promising results in learning neural network policies for
complicated control tasks. However, the lack of formal guarantees about the behavior of …
complicated control tasks. However, the lack of formal guarantees about the behavior of …
Inverse optimal safety filters
M Krstic - IEEE Transactions on Automatic Control, 2023 - ieeexplore.ieee.org
Control barrier function quadratic programs (QP) safety filters are pointwise minimizers of the
control effort at a given state, ie, myopically optimal at each time. But are they optimal over …
control effort at a given state, ie, myopically optimal at each time. But are they optimal over …
Learning control policies for stochastic systems with reach-avoid guarantees
We study the problem of learning controllers for discrete-time non-linear stochastic
dynamical systems with formal reach-avoid guarantees. This work presents the first method …
dynamical systems with formal reach-avoid guarantees. This work presents the first method …