Sampling-Based Resolution-Complete Algorithms for Safety Falsification of Linear Systems
Amit Bhatia,Emilio Frazzoli +1 more
- 22 Apr 2008
- pp 606-609
TL;DR: In this article, the authors introduce the notion of resolution completeness for analysis of safety falsification algorithms and present sampling-based resolution-complete algorithms for discrete-time linear time-invariant systems.
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Abstract: In this paper, we describe a novel approach for checking safety specifications of a dynamical system with exogenous inputs over infinite time horizon. We introduce the notion of resolution completeness for analysis of safety falsification algorithms and present sampling-based resolution-complete algorithms for safety falsification of discrete-time linear time-invariant systems. Given a target resolution of inputs, the algorithms terminate either with a reachable state that violates the safety specification, or prove that the system does not violate the specification at the given resolution of inputs.
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Figures
Figure 2: Execution of a resolution-complete algorithm for card (Q) = 1 
Figure 9: Performance comparison of different algorithms for fifth-order system 
Figure 1: Probabilistic vs resolution completeness 
Figure 3: Set inclusions for resolution completeness 
Figure 5: An execution of BFS-BB Safety Falsification algorithm 
Figure 6: BFS-BB Safety Falsification algorithm
Citations
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TL;DR: This article describes approach for solving motion planning problems for mobile robots involving temporal goals and a wide variety of techniques have been pro posed over the last two decades to solve such problems.
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Falsification of LTL safety properties in hybrid systems
TL;DR: A novel approach for the falsification of safety properties given by a syntactically safe linear temporal logic (LTL) formula for hybrid systems with nonlinear dynamics and input controls based on an effective combination of model checking and motion planning.
Sampling-based Falsification and Verification of Controllers for Continuous Dynamic Systems:
Peng Cheng,Vijay Kumar +1 more
TL;DR: In this article, a sampling-based verification algorithm for continuous dynamic systems with uncertainty due to adversaries, unmodeled disturbance inputs, unknown parameters, or initial conditions is presented, which attempts to find inputs (and resulting trajectories) that falsify the specifications of the system thus providing examples of bad inputs to the system.
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Sufficient Conditions for the Existence of Resolution Complete Planning Algorithms
Dmitry S. Yershov,Steven M. LaValle +1 more
- 01 Jan 2010
TL;DR: This paper establishes general conditions for the existence of resolution complete planning algorithms by introducing a functional analysis framework and reducing algorithm existence to a simple topological property, and establishes metric spaces over the control function space and the trajectory space.
Temporally and spatially flexible plan execution for dynamic hybrid systems
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