Fast Reachable Set Approximations via State Decoupling Disturbances

With the recent surge of interest in using robotics and automation for civil purposes, providing safety and performance guarantees has become extremely important. In the past, differential games have been successfully used for the analysis of safety-critical systems. In particular, the Hamilton-Jacobi (HJ) formulation of differential games provides a flexible way to compute the reachable set, which can characterize the set of states which lead to either desirable or undesirable configurations, depending on the application. While HJ reachability is applicable to many small practical systems, the curse of dimensionality prevents the direct application of HJ reachability to many larger systems. To address computation complexity issues, various efficient computation methods in the literature have been developed for approximating or exactly computing the solution to HJ partial differential equations, but only when the system dynamics are of specific forms. In this paper, we propose a flexible method to trade off optimality with computation complexity in HJ reachability analysis. To achieve this, we propose to simplify system dynamics by treating state variables as disturbances. We prove that the resulting approximation is conservative in the desired direction, and demonstrate our method using a four-dimensional plane model.Comment: in Proceedings of the IEE Conference on Decision and Control, 201

A Characterization of Completely Reachable Automata

A complete deterministic finite automaton in which every non-empty subset of the state set occurs as the image of the whole state set under the action of a suitable input word is called completely reachable. We characterize completely reachable automata in terms of certain directed graphs.Comment: 12 pages, 3 figures, submitted to DLT 201

Small time reachable set of bilinear quantum systems

This note presents an example of bilinear conservative system in an infinite dimensional Hilbert space for which approximate controllability in the Hilbert unit sphere holds for arbitrary small times. This situation is in contrast with the finite dimensional case and is due to the unboundedness of the drift operator

Constraining Attacker Capabilities Through Actuator Saturation

For LTI control systems, we provide mathematical tools - in terms of Linear Matrix Inequalities - for computing outer ellipsoidal bounds on the reachable sets that attacks can induce in the system when they are subject to the physical limits of the actuators. Next, for a given set of dangerous states, states that (if reached) compromise the integrity or safe operation of the system, we provide tools for designing new artificial limits on the actuators (smaller than their physical bounds) such that the new ellipsoidal bounds (and thus the new reachable sets) are as large as possible (in terms of volume) while guaranteeing that the dangerous states are not reachable. This guarantees that the new bounds cut as little as possible from the original reachable set to minimize the loss of system performance. Computer simulations using a platoon of vehicles are presented to illustrate the performance of our tools

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

Efficient Set Sharing Using ZBDDs

Set sharing is an abstract domain in which each concrete object is represented by the set of local variables from which it might be reachable. It is a useful abstraction to detect parallelism opportunities, since it contains definite information about which variables do not share in memory, i.e., about when the memory regions reachable from those variables are disjoint. Set sharing is a more precise alternative to pair sharing, in which each domain element is a set of all pairs of local variables from which a common object may be reachable. However, the exponential complexity of some set sharing operations has limited its wider application. This work introduces an efficient implementation of the set sharing domain using Zero-suppressed Binary Decision Diagrams (ZBDDs). Because ZBDDs were designed to represent sets of combinations (i.e., sets of sets), they naturally represent elements of the set sharing domain. We show how to synthesize the operations needed in the set sharing transfer functions from basic ZBDD operations. For some of the operations, we devise custom ZBDD algorithms that perform better in practice. We also compare our implementation of the abstract domain with an efficient, compact, bit set-based alternative, and show that the ZBDD version scales better in terms of both memory usage and running time