CPS: Medium: Safety-Critical Cyber-Physical Systems: From Validation & Verification to Test & Evaluation

CPS：中：安全关键的网络物理系统：来自验证

基本信息

批准号：
1932091
负责人：
Aaron Ames
金额：
$ 119.92万
依托单位：
California Institute of Technology
依托单位国家：
美国
项目类别：
Standard Grant
财政年份：
2019
资助国家：
美国
起止时间：
2019-10-01 至 2024-09-30
项目状态：
已结题

来源：
https://www.nsf.gov/awardsearch/showAward?AWD_ID=1932091&HistoricalAwards=false
关键词：
CPS Medium Safety Critical Cyber

项目摘要

The goal of this project is to advance the state of the art in autonomous Cyber-Physical Systems (CPS) by integrating tools from computer science and control theory. With the rise in deployment of autonomous CPS--from automotive to aerospace to robotic systems--there is a pressing need to verify and validate properties of these systems and thereby ensure their safe operation. The work will help establish the scientific basis for test and evaluation methods applicable to CPS, especially as they interact with other agents and the world in highly dynamic ways. This has the potential to inform the development and deployment of complex CPS in a variety of application domains: from (semi-) autonomous cars, to safety features in aviation, to robotic systems for industrial applications and space exploration. The appeal of dynamic CPS will be utilized to broaden participation in computing and engineering.The vision of this project is to establish the scientific foundations for the verification and validation of highly dynamic safety-critical CPS operating in complex environments. The key novelty is a rigorous approach that leverages control barrier functions on the underlying nonlinear dynamics to provide guarantees of set invariance yielding: safety-critical abstractions on which to specify and verify desired properties, formal methods certifying system-level designs against those properties, and design rules that allow adaptation and machine learning to be integrated with control barrier functions thereby preserving system safety and performance specifications. Proof-of-concept experimental demonstrations will be performed on CPS that are autonomous, dynamic and safety-critical, e.g., robotic systems.This award reflects NSF's statutory mission and has been deemed worthy of support through evaluation using the Foundation's intellectual merit and broader impacts review criteria.

该项目的目的是通过整合计算机科学和控制理论的工具来推进自动网络物理系统（CPS）的最新技术。随着自动cps的部署的增加 - 从航空航天到机器人系统 - 迫切需要验证和验证这些系统的属性，从而确保它们的安全操作。这项工作将有助于建立适用于CPS的测试和评估方法的科学基础，尤其是当它们以高度动态的方式与其他代理商和世界互动时。这有可能告知各种应用领域中复杂CP的开发和部署：从（半）自动驾驶汽车到航空的安全功能，再到用于工业应用和太空勘探的机器人系统。动态CP的吸引力将用于扩大计算和工程的参与。该项目的愿景是为在复杂环境中运行的高度动态安全关键的CPS验证和验证建立科学基础。主要新颖性是一种严格的方法，该方法利用基础非线性动力学的控制屏障功能提供了设置不变性屈服的保证：安全至关重要的抽象来指定和验证所需的属性，正式的方法认证系统级别的属性，并针对这些属性和设计规则，以适应和机器学习的安全性和机器的安全性，并具有控制性的保障范围。概念验证实验示范将对自主，动态和安全至关重要的CP进行，例如机器人系统。该奖项反映了NSF的法定任务，并被认为是值得通过基金会的智力优点和更广泛影响的审查标准通过评估来获得支持的。

项目成果

期刊论文数量（52）

专著数量（0）

科研奖励数量（0）

会议论文数量（0）

专利数量（0）

Learning Disturbances Online for Risk-Aware Control: Risk-Aware Flight with Less Than One Minute of Data

DOI：
10.48550/arxiv.2212.06253
发表时间：
2022-12
期刊：
Autom.
影响因子：
0
作者：
Prithvi Akella;Skylar X. Wei;J. Burdick;A. Ames
通讯作者：
Prithvi Akella;Skylar X. Wei;J. Burdick;A. Ames

Model-Free Safety-Critical Control for Robotic Systems

DOI：
10.1109/lra.2021.3135569
发表时间：
2022-04-01
期刊：
IEEE ROBOTICS AND AUTOMATION LETTERS
影响因子：
5.2
作者：
Molnar, Tamas G.;K. Cosner, Ryan;D. Ames, Aaron
通讯作者：
D. Ames, Aaron

The Mixed-Observable Constrained Linear Quadratic Regulator Problem: The Exact Solution and Practical Algorithms

DOI：
10.1109/tac.2022.3210871
发表时间：
2021-08
期刊：
IEEE Transactions on Automatic Control
影响因子：
6.8
作者：
Ugo Rosolia;Yuxiao Chen;S. Daftry;M. Ono;Yisong Yue;A. Ames
通讯作者：
Ugo Rosolia;Yuxiao Chen;S. Daftry;M. Ono;Yisong Yue;A. Ames

A Constructive Method for Designing Safe Multirate Controllers for Differentially-Flat Systems

DOI：
10.1109/lcsys.2021.3136465
发表时间：
2024-03
期刊：
IEEE Control Systems Letters
影响因子：
3
作者：
Devansh R. Agrawal;Hardik Parwana;Ryan K. Cosner;Ugo Rosolia;A. Ames;Dimitra Panagou
通讯作者：
Devansh R. Agrawal;Hardik Parwana;Ryan K. Cosner;Ugo Rosolia;A. Ames;Dimitra Panagou

Safety-Critical Coordination for Cooperative Legged Locomotion via Control Barrier Functions

通过控制屏障功能实现协作腿式运动的安全关键协调