Barrier-Based Test Synthesis for Safety-Critical Systems Subject to Timed Reach-Avoid Specifications

We propose an adversarial, time-varying test-synthesis procedure for safety-critical systems without requiring specific knowledge of the underlying controller steering the system . Specifically, our approach codifies the system objective as a timed reach-avoid specification. Then, by coupling contro...

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Bibliographic Details
Published in:IEEE transactions on automatic control Vol. 70; no. 4; pp. 2180 - 2195
Main Authors: Akella, Prithvi, Ahmadi, Mohamadreza, Murray, Richard M., Ames, Aaron D.
Format: Journal Article
Language:English
Published: New York IEEE 01.04.2025
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects:
Automobiles
Codification
Control barrier functions
Control systems
Discrete time systems
formal methods
Logic
minimax problems
Postal services
Quadrupedal robots
Robustness
Safety
Safety critical
safety-critical systems
Search problems
Specifications
Steering
Synthesis
test and evaluation
Time-varying systems
Trajectory
ISSN:0018-9286, 1558-2523
Online Access:Get full text
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Summary:We propose an adversarial, time-varying test-synthesis procedure for safety-critical systems without requiring specific knowledge of the underlying controller steering the system . Specifically, our approach codifies the system objective as a timed reach-avoid specification. Then, by coupling control barrier functions with this class of specifications, we construct an instantaneous difficulty metric whose minimizer corresponds to the most difficult test at that system state. By defining tests as the minimizer of this difficulty metric over the space of allowable tests, we provably identify realizable and maximally difficult tests of system behavior. Finally, we develop this test-synthesis procedure for both continuous and discrete-time systems and showcase our test-synthesis procedure on simulated and hardware examples.
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ISSN:0018-9286
1558-2523
DOI:10.1109/TAC.2024.3505817