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Verifiable Learned Behaviors via Motion Primitive Composition: Applications to Scooping of Granular Media
If these component motion primitives are constructed according to the criteria we specify, the resulting behaviors are probabilistically verifiable.
Lipschitz Continuity of Signal Temporal Logic Robustness Measures: Synthesizing Control Barrier Functions from One Expert Demonstration
By filtering control inputs to maintain the positivity of this function, we ensure that the system trajectory satisfies the desired STL specification.
Learning Disturbances Online for Risk-Aware Control: Risk-Aware Flight with Less Than One Minute of Data
Recent advances in safety-critical risk-aware control are predicated on apriori knowledge of the disturbances a system might face.
Safety-Critical Controller Verification via Sim2Real Gap Quantification
To develop more useful models, we quantify the inaccuracy with which a given model represents a system of interest, so that we may leverage this quantity to facilitate controller synthesis and verification.
Sample-Based Bounds for Coherent Risk Measures: Applications to Policy Synthesis and Verification
The dramatic increase of autonomous systems subject to variable environments has given rise to the pressing need to consider risk in both the synthesis and verification of policies for these systems.
A Scenario Approach to Risk-Aware Safety-Critical System Verification
With the growing interest in deploying robots in unstructured and uncertain environments, there has been increasing interest in factoring risk into safety-critical control development.
A Barrier-Based Scenario Approach to Verify Safety-Critical Systems
In this letter, we detail our randomized approach to safety-critical system verification.
Test and Evaluation of Quadrupedal Walking Gaits through Sim2Real Gap Quantification
This dual approach has the added benefit of quantifying the Sim2Real Gap between a system simulator and its hardware counterpart.
Disturbance Bounds for Signal Temporal Logic Task Satisfaction: A Dynamics Perspective
This letter offers a novel approach to Test and Evaluation of pre-existing controllers from a control barrier function and dynamics perspective.
Learning Performance Bounds for Safety-Critical Systems
As a result, the test and evaluation ideal would be to verify the efficacy of a system simulator and use this verification result to make a statement on true system performance.
