CaltechAUTHORS
  A Caltech Library Service

A Barrier-Based Scenario Approach to Verifying Safety-Critical Systems

Akella, Prithvi and Ames, Aaron D. (2022) A Barrier-Based Scenario Approach to Verifying Safety-Critical Systems. IEEE Robotics and Automation Letters . ISSN 2377-3766. doi:10.1109/lra.2022.3192805. (In Press) https://resolver.caltech.edu/CaltechAUTHORS:20220728-729449000

[img] PDF - Accepted Version
See Usage Policy.

5MB
[img] PDF - Submitted Version
Creative Commons Attribution.

10MB

Use this Persistent URL to link to this item: https://resolver.caltech.edu/CaltechAUTHORS:20220728-729449000

Abstract

We detail an approach to safety-critical verification using barrier functions. Our method requires limited system data to verify a system's ability to keep positive a candidate barrier function h at discrete-time intervals over its trajectories. Specifically, our method first randomly samples initial conditions and parameters for a controlled, continuous-time system and records the state trajectory at discrete intervals. Then, we evaluate these states under a candidate barrier function h to determine the constraints for a randomized linear program. The solution to this program provides either a probabilistic verification statement in the aforementioned vein or a counterexample - an instance where the system went unsafe. To showcase our results, we verify the robotarium simulator, identify counterexamples for its hardware counterpart, and experimentally verify the safety of a multi-agent quadrupedal system.


Item Type:Article
Related URLs:
URLURL TypeDescription
https://doi.org/10.1109/LRA.2022.3192805DOIArticle
https://arxiv.org/abs/2202.11177arXivDiscussion Paper
ORCID:
AuthorORCID
Akella, Prithvi0000-0003-4375-0015
Ames, Aaron D.0000-0003-0848-3177
Alternate Title:A Barrier-Based Scenario Approach to Verify Safety-Critical Systems
Additional Information:© 2022 IEEE. Manuscript received: February 25, 2022; Revised: June 4, 2022; Accepted: June 28, 2022. This paper was recommended for publication by Editor Clement Gosselin upon evaluation of the Associate Editor and Reviewers’ comments. This work was supported by the Air Force Office of Scientific Research, grant FA9550-19-1-0302. The authors would like to thank Ryan K. Cosner, Wyatt L. Ubellacker, Apurva Badithela, and Josefine B. Graebner for their tremendous help in running experiments.
Funders:
Funding AgencyGrant Number
Air Force Office of Scientific Research (AFOSR)FA9550-19-1-0302
Subject Keywords:Robot Safety, Hybrid Logical/Dynamic Planning and Verification, Performance Evaluation and Benchmarking, and Probability and Statistical Methods
DOI:10.1109/lra.2022.3192805
Record Number:CaltechAUTHORS:20220728-729449000
Persistent URL:https://resolver.caltech.edu/CaltechAUTHORS:20220728-729449000
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:115937
Collection:CaltechAUTHORS
Deposited By: George Porter
Deposited On:29 Jul 2022 18:34
Last Modified:29 Jul 2022 18:34

Repository Staff Only: item control page