Formal Safety Net Control Using Backward Reachability Analysis

نویسندگان

چکیده

Ensuring safety is crucial for the successful deployment of autonomous systems, such as self-driving vehicles, unmanned aerial and robots acting close to humans. While there exist many controllers that optimize certain criteria, energy consumption, comfort, or low wear, they are usually not able guarantee at all times constrained nonlinear systems affected by disturbances. Many providing guarantees, however, have no optimal performance. The idea this article is, therefore, synthesize a formally correct controller serves net an unverified, controller. This way, most time, in charge leads desired, control constantly monitors actions takes over if system would become unsafe. utilizes novel concept backward reachable set computation, where we avoid need computing underapproximations sets. We further developed new approach analytically describes sets, making it possible efficiently maximize size set. demonstrate our numerical example from driving.

برای دانلود رایگان متن کامل این مقاله و بیش از 32 میلیون مقاله دیگر ابتدا ثبت نام کنید

اگر عضو سایت هستید لطفا وارد حساب کاربری خود شوید

منابع مشابه

Colored Petri Net inversion for Backward Reachability Analysis

Colored Petri Nets (CPN) are a powerful, recognized and intuitive modelling tool. They allow a precise representation of distributed, embedded and/or real time systems. These models can be then used among others for the dependability assessment. This paper develops a new method of CPN analysis called the Backward reachability. It provides information about different ways of reaching a particula...

متن کامل

Intertwined Forward-Backward Reachability Analysis Using Interpolants

In this work we develop a novel SAT-based verification approach which is based on interpolation. The novelty of our approach is in extracting interpolants in both forward and backward manner and exploiting them for an intertwined approximated forward and backward reachability analysis. Our approach is also mostly local and avoids unrolling of the checked model as much as possible. This results ...

متن کامل

Comparing Forward and Backward Reachability as Tools for Safety Analysis

Using only the existence and uniqueness of trajectories for a generic dynamic system with inputs, we de ne and examine eight types of forward and backward reachability constructs. If the input is treated in a worst-case fashion, any forward or backward reach set or tube can be used for safety analysis, but if the input is treated in a best-case fashion only the backward reach tube always provid...

متن کامل

Backward Reachability Analysis of Colored Petri Nets

This paper deals with a formal method for the study of the backward reachability analysis applied on Colored Petri Nets (CPN). The proposed method proceeds in two steps : 1) it translates CPN to terms of the Multiplicative Intuitionistic Linear Logic (MILL); 2) it proves sequents by constructing proof trees. The translation from CPN to MILL must respect some properties such as the semantic asso...

متن کامل

ذخیره در منابع من


  با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید

ژورنال

عنوان ژورنال: IEEE Transactions on Automatic Control

سال: 2022

ISSN: ['0018-9286', '1558-2523', '2334-3303']

DOI: https://doi.org/10.1109/tac.2021.3124188