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 …
Mixed monotonicity for reachability and safety in dynamical systems
S Coogan - 2020 59th IEEE Conference on Decision and …, 2020 - ieeexplore.ieee.org
A dynamical system is mixed monotone if its vector field or update-map is decomposable
into an increasing component and a decreasing component. In this tutorial paper, we study …
into an increasing component and a decreasing component. In this tutorial paper, we study …
Tight decomposition functions for continuous-time mixed-monotone systems with disturbances
The vector field of a mixed-monotone system is decomposable via a decomposition function
into increasing (cooperative) and decreasing (competitive) components, and this …
into increasing (cooperative) and decreasing (competitive) components, and this …
[HTML][HTML] Verse: A python library for reasoning about multi-agent hybrid system scenarios
We present the Verse library with the aim of making hybrid system verification more usable
for multi-agent scenarios. In Verse, decision making agents move in a map and interact with …
for multi-agent scenarios. In Verse, decision making agents move in a map and interact with …
A toolbox for fast interval arithmetic in numpy with an application to formal verification of neural network controlled systems
In this paper, we present a toolbox for interval analysis in numpy, with an application to
formal verification of neural network controlled systems. Using the notion of natural inclusion …
formal verification of neural network controlled systems. Using the notion of natural inclusion …
Safety from fast, in-the-loop reachability with application to UAVs
We present a runtime assurance (RTA) mechanism for ensuring safety of a controlled
dynamical system and an application to collision avoidance of two unmanned aerial …
dynamical system and an application to collision avoidance of two unmanned aerial …
Run Time Assurance for Spacecraft Attitude Control Under Nondeterministic Assumptions
This article presents a comprehensive development and testing of a run time assurance
(RTA) filter for a torque-controlled spacecraft in free rotational motion with torque actuation …
(RTA) filter for a torque-controlled spacecraft in free rotational motion with torque actuation …
Approximating reachable sets for neural network-based models in real time via optimal control
O Thapliyal, I Hwang - IEEE transactions on control systems …, 2023 - ieeexplore.ieee.org
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 …
Tight remainder-form decomposition functions with applications to constrained reachability and interval observer design
M Khajenejad, SZ Yong - arXiv preprint arXiv:2103.08638, 2021 - arxiv.org
This paper proposes a tractable family of remainder-form mixed-monotone decomposition
functions that are useful for over-approximating the image set of nonlinear mappings in …
functions that are useful for over-approximating the image set of nonlinear mappings in …
Approximate reachability for Koopman systems using mixed monotonicity
O Thapliyal, I Hwang - IEEE Access, 2022 - ieeexplore.ieee.org
We present a data-driven method for computing reachable sets for unknown nonlinear
dynamical systems using a Koopman operator based approach. We find mixed-monotone …
dynamical systems using a Koopman operator based approach. We find mixed-monotone …