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Sampling-based Falsification and Verification of Controllers for Continuous Dynamic Systems

Peng Cheng, Vijay Kumar
2008 The international journal of robotics research  
In this paper, we present a sampling-based verification algorithm for continuous dynamic systems with uncertainty due to adversaries, unmodeled disturbance inputs, unknown parameters, or initial conditions  ...  The main contribution of the paper is the analysis of the effects of discretization of the state and input spaces that are inherent to sampling-based techniques.  ...  Acknowledgements We gratefully acknowledge support from NSF grant CNS-0410514 and ONR grant FA8650-04-C-7133.  ... 
doi:10.1177/0278364908097582 fatcat:kubx4p7p4jheha5o32vxea4zfi

Sampling-Based Falsification and Verification of Controllers for Continuous Dynamic Systems [chapter]

Peng Cheng, Vijay Kumar
Springer Tracts in Advanced Robotics  
In this paper, we present a sampling-based verification algorithm for continuous dynamic systems with uncertainty due to adversaries, unmodeled disturbance inputs, unknown parameters, or initial conditions  ...  The main contribution of the paper is the analysis of the effects of discretization of the state and input spaces that are inherent to sampling-based techniques.  ...  Acknowledgements We gratefully acknowledge support from NSF grant CNS-0410514 and ONR grant FA8650-04-C-7133.  ... 
doi:10.1007/978-3-540-68405-3_25 fatcat:lexjby6iojfdzpecmrcjtlnrm4

NeuralExplorer: State Space Exploration of Closed Loop Control Systems Using Neural Networks [article]

Manish Goyal, Parasara Sridhar Duggirala
2020 arXiv   pre-print
We demonstrate the effectiveness of our approach by applying it not only to standard linear and nonlinear dynamical systems, but also to nonlinear hybrid systems and also neural network based feedback  ...  In this paper, we propose a framework for performing state space exploration of closed loop control systems.  ...  In: Proc. of the Workshop on Applied Verification for Continuous and Hybrid Systems (2015) 4.  ... 
arXiv:2007.05685v1 fatcat:3g4a37tbsjeyhiblhrcxqwunpa

Gray-box Adversarial Testing for Control Systems with Machine Learning Component [article]

Shakiba Yaghoubi, Georgios Fainekos
2018 arXiv   pre-print
Neural Networks (NN) have been proposed in the past as an effective means for both modeling and control of systems with very complex dynamics.  ...  In this paper, we provide a gradient based method for searching the input space of a closed-loop control system in order to find adversarial samples against some system-level requirements.  ...  ACKNOWLEDGEMENT This work was partially supported by the NSF awards CNS 1350420, IIP-1361926, and the NSF I/UCRC Center for Embedded Systems.  ... 
arXiv:1812.11958v1 fatcat:euzn6fwhergrtjosa7txpyecau

Hybrid systems: from verification to falsification by combining motion planning and discrete search

Erion Plaku, Lydia E. Kavraki, Moshe Y. Vardi
2008 Formal methods in system design  
We propose HyDICE, Hybrid DIscrete Continuous Exploration, a multilayered approach for hybrid-system falsification that combines motion planning with discrete search and discovers safety violations by  ...  Experiments on a nonlinear hybrid robotic system with over one million modes and experiments with an aircraft conflict-resolution protocol with high-dimensional continuous state spaces demonstrate the  ...  Acknowledgment The authors thank Thao Dang for providing implementation details of the related work [41] .  ... 
doi:10.1007/s10703-008-0058-5 fatcat:fwzwijitsfcifmewf5tm2h6o4a

Verification of automotive control applications using S-TaLiRo

G. E. Fainekos, S. Sankaranarayanan, K. Ueda, H. Yazarel
2012 2012 American Control Conference (ACC)  
In this paper, we present a dynamic programming algorithm for computing the robustness of temporal logic specifications with respect to system trajectories.  ...  S-TALIRO is a software toolbox that performs stochastic search for system trajectories that falsify realtime temporal logic specifications.  ...  Acknowledgments: The authors would like to thank Hengyi Yang for his help with implementing DP-TALIRO.  ... 
doi:10.1109/acc.2012.6315384 fatcat:gubqee5u3jfe5h3oeaefgsko6e

Towards a Verified Artificial Pancreas: Challenges and Solutions for Runtime Verification [chapter]

Fraser Cameron, Georgios Fainekos, David M. Maahs, Sriram Sankaranarayanan
2015 Lecture Notes in Computer Science  
We illustrate the use of S-Taliro for finding interesting property violations in a PID-based hybrid closed loop control system.  ...  We argue the need for offline and online runtime verification for these devices, and discuss challenges that make verification hard.  ...  All opinions expressed are those of the authors, and not necessarily of the NSF.  ... 
doi:10.1007/978-3-319-23820-3_1 fatcat:glv6asxxgbazxilpscnqycmo2u

Time-Staging Enhancement of Hybrid System Falsification [article]

Gidon Ernst, Ichiro Hasuo, Zhenya Zhang, Sean Sedwards
2018 arXiv   pre-print
Optimization-based falsification employs stochastic optimization algorithms to search for error input of hybrid systems.  ...  We also present theoretical results that suggest the kinds of models and specifications for which time staging is likely to be effective.  ...  This work is supported by ERATO HASUO Metamathematics for Systems Design Project (No. JPMJER1603), Japan Science and Technology Agency.  ... 
arXiv:1803.03866v1 fatcat:jnnlyxh2drhdxntu4zaakecr5e

Multiple shooting, CEGAR-based falsification for hybrid systems

Aditya Zutshi, Jyotirmoy V. Deshmukh, Sriram Sankaranarayanan, James Kapinski
2014 Proceedings of the 14th International Conference on Embedded Software - EMSOFT '14  
In this paper, we present an approach for finding violations of safety properties of hybrid systems.  ...  Existing approaches search for complete system trajectories that begin from an initial state and reach some unsafe state.  ...  Verification techniques Counterexample guided abstraction refinement (CEGAR)-based verification of hybrid systems involves symbolic techniques to build abstractions and model checking tools to explore  ... 
doi:10.1145/2656045.2656061 dblp:conf/emsoft/ZutshiDSK14 fatcat:2emlwn6czncbzmmdg7gkpkle54

A trajectory splicing approach to concretizing counterexamples for hybrid systems

Aditya Zutshi, Sriram Sankaranarayanan, Jyotirmoy V. Deshmukh, James Kapinski
2013 52nd IEEE Conference on Decision and Control  
We compare our approach with other falsification approaches including uniform random sampling and a robustness guided falsification approach used in the tool S-Taliro.  ...  Many formal verification techniques for hybrid systems, including flowpipe construction, can identify plausible abstract counterexamples for property violations.  ...  All opinions expressed are those of the authors and not necessarily of the NSF.  ... 
doi:10.1109/cdc.2013.6760488 dblp:conf/cdc/ZutshiSDK13 fatcat:62nf5nmcmfa3xf6fboq43jgenm

Monte-carlo techniques for falsification of temporal properties of non-linear hybrid systems

Truong Nghiem, Sriram Sankaranarayanan, Georgios Fainekos, Franjo Ivancić, Aarti Gupta, George J. Pappas
2010 Proceedings of the 13th ACM international conference on Hybrid systems: computation and control - HSCC '10  
However, for the most part, they have been described over continuous or switched systems trajectories and for properties over the continuous state variables.  ...  Global optimization is carried out using a Monte-Carlo technique that performs a random walk over the space of inputs consisting of initial states, controls and disturbances.  ...  ), a lot of recent research activity has concentrated on testing approaches to the verification of continuous and hybrid systems [19] .  ... 
doi:10.1145/1755952.1755983 dblp:conf/hybrid/NghiemSFIGP10 fatcat:hs7tb2havrbhji5jjo4xtaww2u

Incremental Search Methods for Reachability Analysis of Continuous and Hybrid Systems [chapter]

Amit Bhatia, Emilio Frazzoli
2004 Lecture Notes in Computer Science  
In this paper we present algorithms and tools for fast and efficient reachability analysis, applicable to continuous and hybrid systems.  ...  The ability of the proposed algorithms to analyze the reachability and safety properties of general continuous and hybrid systems is demonstrated on examples from the literature.  ...  Thao Dang (Verimag, France) for providing the d/dt verification software and examples.  ... 
doi:10.1007/978-3-540-24743-2_10 fatcat:s3rtzvzyljbdznvr2gdxzn54ta

Automated Planning and Model Checking (Dagstuhl Seminar 14482)

Alessandro Cimatti, Stefan Edelkamp, Maria Fox, Daniele Magazzeni, Erion Plaku, Marc Herbstritt
2015 Dagstuhl Reports  
planning and verification problems.  ...  There has been a lot of work on the exchanges between the areas of automated planning and model checking, based on the observation that a model-checking problem can be cast as a planning problem and vice-versa  ...  Sampling-based tree search with discrete abstractions for motion planning with dynamics and temporal logic.  ... 
doi:10.4230/dagrep.4.11.227 dblp:journals/dagstuhl-reports/CimattiEFMP14 fatcat:ukc75llezvg2jevqaytqouvzje

Approximation-Refinement Testing of Compute-Intensive Cyber-Physical Models: An Approach Based on System Identification [article]

Claudio Menghi, Shiva Nejati, Lionel C. Briand, Yago Isasi Parache
2019 arXiv   pre-print
Black-box testing has been extensively applied to test models of Cyber-Physical systems (CPS) since these models are not often amenable to static and symbolic testing and verification.  ...  At the start, some sampled inputs and outputs of the CI-CPS model under test are used to generate a surrogate model that is faster to execute and can be subjected to black-box testing.  ...  We thank our partners LuxSpace and QRA Corp for their support.  ... 
arXiv:1910.02837v1 fatcat:amcqkop6mjaf7h7ravtutfa22e

Classification and Coverage-Based Falsification for Embedded Control Systems [chapter]

Arvind Adimoolam, Thao Dang, Alexandre Donzé, James Kapinski, Xiaoqing Jin
2017 Lecture Notes in Computer Science  
A practical approach for testing and debugging these system designs is falsification, wherein the user provides a temporal logic specification of correct system behaviors, and some technique for selecting  ...  This falsification algorithm combines global and local search methods and uses a classification technique based on support vector machines to identify regions of the search space on which to focus effort  ...  The model and property description of this benchmark is available at the site of the workshop Applied Verification for Continuous and Hybrid Systems, ARCH 2014-2015, http://cps-vo.org/node/12116.  ... 
doi:10.1007/978-3-319-63387-9_24 fatcat:oudb7ggvtzd6zlg7cmojlxqdsq
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