Output Reachable Set Estimation and Verification for Multi-Layer Neural Networks

In this paper, the output reachable estimation and safety verification problems for multi-layer perceptron neural networks are addressed. First, a conception called maximum sensitivity in introduced and, for a class of multi-layer perceptrons whose activation functions are monotonic functions, the maximum sensitivity can be computed via solving convex optimization problems. Then, using a simulation-based method, the output reachable set estimation problem for neural networks is formulated into a chain of optimization problems. Finally, an automated safety verification is developed based on the output reachable set estimation result. An application to the safety verification for a robotic arm model with two joints is presented to show the effectiveness of proposed approaches.Comment: 8 pages, 9 figures, to appear in TNNL

A Framework for Worst-Case and Stochastic Safety Verification Using Barrier Certificates

This paper presents a methodology for safety verification of continuous and hybrid systems in the worst-case and stochastic settings. In the worst-case setting, a function of state termed barrier certificate is used to certify that all trajectories of the system starting from a given initial set do not enter an unsafe region. No explicit computation of reachable sets is required in the construction of barrier certificates, which makes it possible to handle nonlinearity, uncertainty, and constraints directly within this framework. In the stochastic setting, our method computes an upper bound on the probability that a trajectory of the system reaches the unsafe set, a bound whose validity is proven by the existence of a barrier certificate. For polynomial systems, barrier certificates can be constructed using convex optimization, and hence the method is computationally tractable. Some examples are provided to illustrate the use of the method

Reach Set Approximation through Decomposition with Low-dimensional Sets and High-dimensional Matrices

Approximating the set of reachable states of a dynamical system is an algorithmic yet mathematically rigorous way to reason about its safety. Although progress has been made in the development of efficient algorithms for affine dynamical systems, available algorithms still lack scalability to ensure their wide adoption in the industrial setting. While modern linear algebra packages are efficient for matrices with tens of thousands of dimensions, set-based image computations are limited to a few hundred. We propose to decompose reach set computations such that set operations are performed in low dimensions, while matrix operations like exponentiation are carried out in the full dimension. Our method is applicable both in dense- and discrete-time settings. For a set of standard benchmarks, it shows a speed-up of up to two orders of magnitude compared to the respective state-of-the art tools, with only modest losses in accuracy. For the dense-time case, we show an experiment with more than 10.000 variables, roughly two orders of magnitude higher than possible with previous approaches

Simple Approximations of Semialgebraic Sets and their Applications to Control

Many uncertainty sets encountered in control systems analysis and design can be expressed in terms of semialgebraic sets, that is as the intersection of sets described by means of polynomial inequalities. Important examples are for instance the solution set of linear matrix inequalities or the Schur/Hurwitz stability domains. These sets often have very complicated shapes (non-convex, and even non-connected), which renders very difficult their manipulation. It is therefore of considerable importance to find simple-enough approximations of these sets, able to capture their main characteristics while maintaining a low level of complexity. For these reasons, in the past years several convex approximations, based for instance on hyperrect-angles, polytopes, or ellipsoids have been proposed. In this work, we move a step further, and propose possibly non-convex approximations , based on a small volume polynomial superlevel set of a single positive polynomial of given degree. We show how these sets can be easily approximated by minimizing the L1 norm of the polynomial over the semialgebraic set, subject to positivity constraints. Intuitively, this corresponds to the trace minimization heuristic commonly encounter in minimum volume ellipsoid problems. From a computational viewpoint, we design a hierarchy of linear matrix inequality problems to generate these approximations, and we provide theoretically rigorous convergence results, in the sense that the hierarchy of outer approximations converges in volume (or, equivalently, almost everywhere and almost uniformly) to the original set. Two main applications of the proposed approach are considered. The first one aims at reconstruction/approximation of sets from a finite number of samples. In the second one, we show how the concept of polynomial superlevel set can be used to generate samples uniformly distributed on a given semialgebraic set. The efficiency of the proposed approach is demonstrated by different numerical examples

Analysis of parametric biological models with non-linear dynamics

In this paper we present recent results on parametric analysis of biological models. The underlying method is based on the algorithms for computing trajectory sets of hybrid systems with polynomial dynamics. The method is then applied to two case studies of biological systems: one is a cardiac cell model for studying the conditions for cardiac abnormalities, and the second is a model of insect nest-site choice.Comment: In Proceedings HSB 2012, arXiv:1208.315