Departmental Papers (CIS)
Date of this Version
12-2020
Document Type
Journal Article
Recommended Citation
Radoslav Ivanov, Taylor J. Carpenter, James Weimer, Rajeev Alur, George Pappas, and Insup Lee, "Verifying the Safety of Autonomous Systems with Neural Network Controllers", ACM Transactions on Embedded Computing Systems (TECS) 1(1), 1-26. December 2020.
Abstract
This paper addresses the problem of verifying the safety of autonomous systems with neural network (NN) controllers. We focus on NNs with sigmoid/tanh activations and use the fact that the sigmoid/tanh is the solution to a quadratic differential equation. This allows us to convert the NN into an equivalent hybrid system and cast the problem as a hybrid system verification problem, which can be solved by existing tools. Furthermore, we improve the scalability of the proposed method by approximating the sigmoid with a Taylor series with worst-case error bounds. Finally, we provide an evaluation over four benchmarks, including comparisons with alternative approaches based on mixed integer linear programming as well as on star sets.
Subject Area
CPS Formal Methods, CPS Safe Autonomy
Publication Source
ACM Transactions on Embedded Computing Systems (TECS)
Volume
1
Issue
1
Start Page
1
Last Page
26
Keywords
software and its engineering, formal methods, computer systems organization, embedded and cyber-physical systems, computing methodologies, neural networks
Date Posted: 11 January 2021
This document has been peer reviewed.