11 papers
Feedback Motion Planning for Stochastic Nonlinear Systems with Signal Temporal Logic Specifications
Liqian Ma, Zishun Liu, Glen Chou +1
We study feedback motion planning for continuous-time stochastic nonlinear systems under signal temporal logic (STL) specifications. We propose a framework that synthesizes control…
Concentration of Stochastic System Trajectories with Time-varying Contraction Conditions
Zishun Liu, Liqian Ma, Hongzhe Yu +1
We establish two concentration inequalities for nonlinear stochastic system under time-varying contraction conditions. The key to our approach is an energy function termed Averaged…
Model Predictive Control with High-Probability Safety Guarantee for Nonlinear Stochastic Systems
Zishun Liu, Liqian Ma, Yongxin Chen
We present a model predictive control (MPC) framework for nonlinear stochastic systems that ensures safety guarantee with high probability. Unlike most existing stochastic MPC sche…
Trajectory Optimization of Stochastic Systems under Chance Constraints via Set Erosion
Zishun Liu, Liqian Ma, Yongxin Chen
We study the trajectory optimization problem under chance constraints for continuous-time stochastic systems. To address chance constraints imposed on the entire stochastic traject…
Safety Verification of Nonlinear Stochastic Systems via Probabilistic Tube
Zishun Liu, Saber Jafarpour, Yongxin Chen
We address the problem of safety verification for nonlinear stochastic systems, specifically the task of certifying that system trajectories remain within a safe set with high prob…
A New Proof of Sub-Gaussian Norm Concentration Inequality
Zishun Liu, Sam Power, Yongxin Chen
We present a new method for proving the norm concentration inequality of sub-Gaussian variables. Our proof is based on an averaged version of the moment generating function, termed…
Safety Verification of Stochastic Systems under Signal Temporal Logic Specifications
Liqian Ma, Zishun Liu, Hongzhe Yu +1
We study the verification problem of stochastic systems under signal temporal logic (STL) specifications. We propose a novel approach that enables the verification of the probabili…
Safety Verification of Stochastic Systems: A Set-Erosion Approach
Zishun Liu, Saber Jafarpour, Yongxin Chen
We study the safety verification problem for discrete-time stochastic systems. We propose an approach for safety verification termed set-erosion strategy that verifies the safety o…
Probabilistic Reachability of Discrete-Time Nonlinear Stochastic Systems
Zishun Liu, Saber Jafarpour, Yongxin Chen
In this paper we study the reachability problem for discrete-time nonlinear stochastic systems. Our goal is to present a unified framework for calculating the probabilistic reachab…
Probabilistic Reachability Analysis of Stochastic Control Systems
Saber Jafarpour, Zishun Liu, Yongxin Chen
We address the reachability problem for continuous-time stochastic dynamic systems. Our objective is to present a unified framework that characterizes the reachable set of a dynami…
Data-Driven Adversarial Online Control for Unknown Linear Systems
Zishun Liu, Yongxin Chen
We consider the online control problem with an unknown linear dynamical system in the presence of adversarial perturbations and adversarial convex loss functions. Although the prob…