5 accepted papers
Barrier certificate generation is an efficient and powerful technique for formally verifying safety properties of cyber-physical systems. Feed-forward neural networks (FNNs) are commonly used to synthesize barrier certificates, but the fixed activation functions limit their efficiency and scalabilit…
Control barrier certificate generation is an efficient and powerful technique for the safe control of cyber-physical systems. Feed-forward neural networks (FNNs) are commonly used to synthesize control barrier certificates and safe controllers, but they struggle to effectively address the challenges
Optimal control and planning with safety considerations constitute a fundamental challenge in model predictive control (MPC) applications, which has recently been addressed by integrating Control Barrier Functions (CBFs) to yield a safety-critical form of MPC, known as MPC-CBF. However, current neur
Motion planning (MP) is essential but challenging for mobile robots. Most of the existing MP methods, at each instant, compute an action based on the states of the robot and the surrounding obstacles, assuming that the robot's localization module is attack-free. Unfortunately, the localization modul
During flights, an unmanned aerial vehicle (UAV) may not be allowed to move across certain areas due to soft constraints such as privacy restrictions. Current methods on self-adaption focus mostly on motion planning such that the trajectory does not trespass predetermined restricted areas. When the…