8 papers
Staying on Spec: Real-Time Monitoring under Uncertainty with a Maritime Case Study
Elizabeth Dietrich, Hanna Krasowski, Emir Cem Gezer +4
Robotic systems must operate under uncertainty while satisfying complex task and safety specifications. Monitoring such specifications under uncertainty remains challenging, as exi…
pacSTL: PAC-Bounded Signal Temporal Logic from Data-Driven Reachability Analysis
Hanna Krasowski, Elizabeth Dietrich, Emir Cem Gezer +3
Signal Temporal Logic (STL) is an expressive language for specifying behaviors of dynamical systems from continuous signals. However, a limitation of standard STL is its inherently…
Finite-Step Invariant Sets for Hybrid Systems with Probabilistic Guarantees
Varun Madabushi, Elizabeth Dietrich, Hanna Krasowski +1
Poincare return maps are a fundamental tool for analyzing periodic orbits in hybrid dynamical systems, including legged locomotion, power electronics, and other cyber-physical syst…
Probably Approximately Correct (PAC) Guarantees for Data-Driven Reachability Analysis: A Theoretical and Empirical Comparison
Elizabeth Dietrich, Hanna Krasowski, Murat Arcak
Reachability analysis evaluates system safety, by identifying the set of states a system may evolve within over a finite time horizon. In contrast to model-based reachability analy…
Importance Sampling for Statistical Certification of Viable Initial Sets
Elizabeth Dietrich, Hanna Krasowski, Vegard Flovik +1
We study the problem of statistically certifying viable initial sets (VISs)---sets of initial conditions whose trajectories satisfy a given control specification. While VISs can be…
Data-Driven Reachability with Scenario Optimization and the Holdout Method
Elizabeth Dietrich, Rosalyn Devonport, Stephen Tu +1
Reachability analysis is an important method in providing safety guarantees for systems with unknown or uncertain dynamics. Due to the computational intractability of exact reachab…