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View article: How to Train Your Neural Control Barrier Function: Learning Safety Filters for Complex Input-Constrained Systems
How to Train Your Neural Control Barrier Function: Learning Safety Filters for Complex Input-Constrained Systems Open
Control barrier functions (CBF) have become popular as a safety filter to guarantee the safety of nonlinear dynamical systems for arbitrary inputs. However, it is difficult to construct functions that satisfy the CBF constraints for high r…
View article: Correct-by-Construction Control Adaptation against Sensing, Model, and Information Uncertainty
Correct-by-Construction Control Adaptation against Sensing, Model, and Information Uncertainty Open
The theory of formal methods had a profound effect on computer science. By providing tools that can verify a program’s correctness or generate software that is “correct-by-construction,” Formal Methods made it much easier to design safer, …
View article: Optimal Control for Linear Networked Control Systems with Information Transmission Constraints
Optimal Control for Linear Networked Control Systems with Information Transmission Constraints Open
This paper addresses the problem of robust control of a linear discrete-time system subject to bounded disturbances and to measurement and control budget constraints.Using Q-parameterization and a polytope containment method, we prove that…
View article: Optimal Control for Linear Networked Control Systems with Information Transmission Constraints
Optimal Control for Linear Networked Control Systems with Information Transmission Constraints Open
This paper addresses the problem of robust control of a linear discrete-time system subject to bounded disturbances and to measurement and control budget constraints. Using Q-parameterization and a polytope containment method, we prove tha…
View article: Compositional safety rules for inter-triggering hybrid automata
Compositional safety rules for inter-triggering hybrid automata Open
Extended version of the conference paper with a supplementary appendix.
View article: Using Control Synthesis to Generate Corner Cases: A Case Study on Autonomous Driving
Using Control Synthesis to Generate Corner Cases: A Case Study on Autonomous Driving Open
This paper employs correct-by-construction control synthesis, in particular controlled invariant set computations, for falsification. Our hypothesis is that if it is possible to compute a “large enough” controlled invariant set either for …
View article: Optimization-Based Design of Bounded-Error Estimators Robust to Missing Data
Optimization-Based Design of Bounded-Error Estimators Robust to Missing Data Open
Non-asymptotic bounded-error state estimators that provide hard bounds on the estimation error are crucial for safety-critical applications. This paper proposes a class of optimal bounded-error affine estimators to achieve a novel property…