A Framework for Worst-Case and Stochastic Safety Verification Using Barrier Certificates

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General Robotics, Automation, Sensing and Perception Laboratory
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GRASP
Barrier certificates
hybrid systems
nonlinear systems
safety verification
stochastic systems
sum of squares optimization
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Prajna, Stephen
Jadbabaie, Ali
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This paper presents a methodology for safety verification of continuous and hybrid systems in the worst-case and stochastic settings. In the worst-case setting, a function of state termed barrier certificate is used to certify that all trajectories of the system starting from a given initial set do not enter an unsafe region. No explicit computation of reachable sets is required in the construction of barrier certificates, which makes it possible to handle nonlinearity, uncertainty, and constraints directly within this framework. In the stochastic setting, our method computes an upper bound on the probability that a trajectory of the system reaches the unsafe set, a bound whose validity is proven by the existence of a barrier certificate. For polynomial systems, barrier certificates can be constructed using convex optimization, and hence the method is computationally tractable. Some examples are provided to illustrate the use of the method.

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2007-08-01
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Copyright 2007 IEEE. Reprinted from IEEE Transactions on Automatic Control, Volume 52, Issue 8, August 2007, pages 1415-1428. This material is posted here with permission of the IEEE. Such permission of the IEEE does not in any way imply IEEE endorsement of any of the University of Pennsylvania's products or services. Internal or personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution must be obtained from the IEEE by writing to pubs-permissions@ieee.org. By choosing to view this document, you agree to all provisions of the copyright laws protecting it.
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