14,857 research outputs found
Active Sampling-based Binary Verification of Dynamical Systems
Nonlinear, adaptive, or otherwise complex control techniques are increasingly
relied upon to ensure the safety of systems operating in uncertain
environments. However, the nonlinearity of the resulting closed-loop system
complicates verification that the system does in fact satisfy those
requirements at all possible operating conditions. While analytical proof-based
techniques and finite abstractions can be used to provably verify the
closed-loop system's response at different operating conditions, they often
produce conservative approximations due to restrictive assumptions and are
difficult to construct in many applications. In contrast, popular statistical
verification techniques relax the restrictions and instead rely upon
simulations to construct statistical or probabilistic guarantees. This work
presents a data-driven statistical verification procedure that instead
constructs statistical learning models from simulated training data to separate
the set of possible perturbations into "safe" and "unsafe" subsets. Binary
evaluations of closed-loop system requirement satisfaction at various
realizations of the uncertainties are obtained through temporal logic
robustness metrics, which are then used to construct predictive models of
requirement satisfaction over the full set of possible uncertainties. As the
accuracy of these predictive statistical models is inherently coupled to the
quality of the training data, an active learning algorithm selects additional
sample points in order to maximize the expected change in the data-driven model
and thus, indirectly, minimize the prediction error. Various case studies
demonstrate the closed-loop verification procedure and highlight improvements
in prediction error over both existing analytical and statistical verification
techniques.Comment: 23 page
Model of large scale man-machine systems with an application to vessel traffic control
Mathematical models are discussed to deal with complex large-scale man-machine systems such as vessel (air, road) traffic and process control systems. Only interrelationships between subsystems are assumed. Each subsystem is controlled by a corresponding human operator (HO). Because of the interaction between subsystems, the HO has to estimate the state of all relevant subsystems and the relationships between them, based on which he can decide and react. This nonlinear filter problem is solved by means of both a linearized Kalman filter and an extended Kalman filter (in case state references are unknown and have to be estimated). The general model structure is applied to the concrete problem of vessel traffic control. In addition to the control of each ship, this involves collision avoidance between ship
Closed-Loop Statistical Verification of Stochastic Nonlinear Systems Subject to Parametric Uncertainties
This paper proposes a statistical verification framework using Gaussian
processes (GPs) for simulation-based verification of stochastic nonlinear
systems with parametric uncertainties. Given a small number of stochastic
simulations, the proposed framework constructs a GP regression model and
predicts the system's performance over the entire set of possible
uncertainties. Included in the framework is a new metric to estimate the
confidence in those predictions based on the variance of the GP's cumulative
distribution function. This variance-based metric forms the basis of active
sampling algorithms that aim to minimize prediction error through careful
selection of simulations. In three case studies, the new active sampling
algorithms demonstrate up to a 35% improvement in prediction error over other
approaches and are able to correctly identify regions with low prediction
confidence through the variance metric.Comment: 8 pages, submitted to ACC 201
- …