Detecting and enforcing monotonicity for hybrid control systems synthesis

Abstraction based approaches to control of hybrid systems require efficient means of computing outer approximations of reachable continuous state sets. This contribution discusses how the concept of monotonicity can be used for this purpose. It provides an efficient algorithm to check whether a given continuous system is monotone with respect to a (a-priori unknown) partial order and, if not, investigates how to use continuous feedback to enforce monotonicity. In the latter case, the resulting continuous feedback represents a (lower) control level within a hierarchical hybrid control system

Risk-Sensitive Path Planning via CVaR Barrier Functions: Application to Bipedal Locomotion

Enforcing safety of robotic systems in the presence of stochastic uncertainty is a challenging problem. Traditionally,researchers have proposed safety in the statistical mean as a safety measure in this case. However, ensuring safety in the statistical mean is only reasonable if robot safe behavior in the large number of runs is of interest, which precludes the use of mean safety in practical scenarios. In this paper, we propose a risk sensitive notion of safety called conditional-value-at-risk (CVaR) safety, which is concerned with safe performance in the worst case realizations. We introduce CVaR barrier functions asa tool to enforce CVaR safety and propose conditions for their Boolean compositions. Given a legacy controller, we show that we can design a minimally interfering CVaR safe controller via solving difference convex programs. We elucidate the proposed method by applying it to a bipedal locomotion case study

Size-Change Termination as a Contract

Termination is an important but undecidable program property, which has led to a large body of work on static methods for conservatively predicting or enforcing termination. One such method is the size-change termination approach of Lee, Jones, and Ben-Amram, which operates in two phases: (1) abstract programs into "size-change graphs," and (2) check these graphs for the size-change property: the existence of paths that lead to infinite decreasing sequences. We transpose these two phases with an operational semantics that accounts for the run-time enforcement of the size-change property, postponing (or entirely avoiding) program abstraction. This choice has two key consequences: (1) size-change termination can be checked at run-time and (2) termination can be rephrased as a safety property analyzed using existing methods for systematic abstraction. We formulate run-time size-change checks as contracts in the style of Findler and Felleisen. The result compliments existing contracts that enforce partial correctness specifications to obtain contracts for total correctness. Our approach combines the robustness of the size-change principle for termination with the precise information available at run-time. It has tunable overhead and can check for nontermination without the conservativeness necessary in static checking. To obtain a sound and computable termination analysis, we apply existing abstract interpretation techniques directly to the operational semantics, avoiding the need for custom abstractions for termination. The resulting analyzer is competitive with with existing, purpose-built analyzers

Automated Formal Analysis of Internet Routing Configurations

Today\u27s Internet interdomain routing protocol, the Border Gateway Protocol (BGP), is increasingly complicated and fragile due to policy misconfigurations by individual autonomous systems (ASes). To create provably correct networks, the past twenty years have witnessed, among many other efforts, advances in formal network modeling, system verification and testing, and point solutions for network management by formal reasoning. On the conceptual side, the formal models usually abstract away low-level details, specifying what are the correct functionalities but not how to achieve them. On the practical side, system verification of existing networked systems is generally hard, and system testing or simulation provide limited formal guarantees. This is known as a long standing challenge in network practice --- formal reasoning is decoupled from actual implementation. This thesis seeks to bridge formal reasoning and actual network implementation in the setting of the Border Gateway Protocol (BGP), by developing the Formally Verifiable Routing (FVR) toolkit that combines formal methods and programming language techniques. Starting from the formal model, FVR automates verification of routing models and the synthesis of faithful implementations that carries the correctness property. Conversely, starting from large real-world BGP systems with arbitrary policy configurations, automates the analysis of Internet routing configurations, and also includes a novel network reduction technique that scales up existing techniques for automated analysis. By developing the above formal theories and tools, this thesis aims to help network operators to create and manage BGP systems with correctness guarantee

GRASP News Volume 9, Number 1

A report of the General Robotics and Active Sensory Perception (GRASP) Laboratory

\u3cem\u3eGRASP News\u3c/em\u3e: Volume 9, Number 1

The past year at the GRASP Lab has been an exciting and productive period. As always, innovation and technical advancement arising from past research has lead to unexpected questions and fertile areas for new research. New robots, new mobile platforms, new sensors and cameras, and new personnel have all contributed to the breathtaking pace of the change. Perhaps the most significant change is the trend towards multi-disciplinary projects, most notable the multi-agent project (see inside for details on this, and all the other new and on-going projects). This issue of GRASP News covers the developments for the year 1992 and the first quarter of 1993

Tools and Algorithms for the Construction and Analysis of Systems

This open access two-volume set constitutes the proceedings of the 27th International Conference on Tools and Algorithms for the Construction and Analysis of Systems, TACAS 2021, which was held during March 27 – April 1, 2021, as part of the European Joint Conferences on Theory and Practice of Software, ETAPS 2021. The conference was planned to take place in Luxembourg and changed to an online format due to the COVID-19 pandemic. The total of 41 full papers presented in the proceedings was carefully reviewed and selected from 141 submissions. The volume also contains 7 tool papers; 6 Tool Demo papers, 9 SV-Comp Competition Papers. The papers are organized in topical sections as follows: Part I: Game Theory; SMT Verification; Probabilities; Timed Systems; Neural Networks; Analysis of Network Communication. Part II: Verification Techniques (not SMT); Case Studies; Proof Generation/Validation; Tool Papers; Tool Demo Papers; SV-Comp Tool Competition Papers