Acumen: An Open-Source Testbed for Cyber-Physical Systems Research

Taha, Walid; Duracz, Adam; Zeng, Yingfu; Atkinson, Kevin; Bartha, F.; Brauner, Paul; Duracz, Jan; Xu, Fei; Cartwright, Robert; Konečný, Michal; Moggi, Eugenio; Masood, Jawad; Andreasson, Björn Pererik; Inoue, Jun; Sant'Anna, Anita Pinheiro; Philippsen, Roland; Chapoutot, Alexandre; O’Malley, Marcia K.; Ames, Aaron D.; Gaspes, Verónica; Hvatum, Lise B.; Mehta, Smita; Eriksson, Henrik; Grante, Christian

doi:10.1007/978-3-319-47063-4_11

Cited by 23 publications

(18 citation statements)

References 19 publications

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“…Validating properties of cyber-physical systems [16,29] is a difficult problem for which set membership techniques provide original and efficient solutions [25,26].…”

Section: Introductionmentioning

confidence: 99%

Characterizing Sliding Surfaces of Cyber-Physical Systems

Jaulin

Bars

2020

Acta Cybern

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When implementing a non-continuous controller for a cyber-physical system, it may happen that the evolution function of the closed-loop system is not anymore piecewise continuous along the trajectory, mainly due to if statements inside the control algorithm. As a consequence, an unwanted chattering effect may occur. This behavior is often difficult to observe even in simulation. We propose here a set-membership method based on interval analysis to detect different types of discontinuities. One of them is the sliding surface where the state trajectory jumps indefinitely between two distinct behaviors. As an application, we consider the validation of a sailboat controller. We show that our approach is able to detect and explain some unwanted sliding effects that may be observed in rare and specific situations on our actual sailboat robots.

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“…Validating properties of cyber-physical systems [16,29] is a difficult problem for which set membership techniques provide original and efficient solutions [25,26].…”

Section: Introductionmentioning

confidence: 99%

Characterizing Sliding Surfaces of Cyber-Physical Systems

Jaulin

Bars

2020

Acta Cybern

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“…In this paper we focus on techniques for proving unreachability of a given set of unsafe states. Besides methods based on theorem proving [11,21,25], logical encoding [13,15,22,26] and validated simulation [12,28], flowpipe-construction-based methods [2,7,9,[17][18][19][20]27] show increasing performance and usability. These methods over-approximate the set of states that are reachable in a hybrid system from a given set of initial states by executing an iterative forward reachability analysis algorithm.…”

Section: Introductionmentioning

confidence: 99%

Efficient Dynamic Error Reduction for Hybrid Systems Reachability Analysis

Schupp

Ábrahám

2018

Tools and Algorithms for the Construction and Analysis of Systems

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To decide whether a set of states is reachable in a hybrid system, over-approximative symbolic successor computations can be used, where the symbolic representation of state sets as well as the successor computations have several parameters which determine the efficiency and the precision of the computations. Naturally, faster computations come with less precision and more spurious counterexamples. To remove a spurious counterexample, the only possibility offered by current tools is to reduce the error by restarting the complete search with different parameters. In this paper we propose a CEGAR approach that takes as input a user-defined ordered list of search configurations, which are used to dynamically refine the search tree along potentially spurious counterexamples. Dedicated datastructures allow to extract as much useful information as possible from previous computations in order to reduce the refinement overhead.

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“…where t ∈ R is the time, x(t) is the state vector, n(t) is the noise vector, assumed to belong to a known box [n], and f : R n × R → R n is the evolution function [2]. One of the main motivations of guaranteed integration methods is to develop reliable cyber-physical systems such as Acumen [3] for dynamical systems simulation and verification. From a mathematical point of view, our problem corresponds to the area of interval integration [4,5], the aim of which is to compute a guaranteed enclosure of an Initial Value Problem (IVP).…”

Section: Introductionmentioning

confidence: 99%

Guaranteed computation of robot trajectories

Rohou

Jaulin

Mihaylova

et al. 2017

Robotics and Autonomous Systems

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This paper proposes a new method for guaranteed integration of state equations. Within this framework, the variables of interest are trajectories submitted to both arithmetic and differential equations. The approach consists in formalizing a problem thanks to a constraint network and then apply these constraints to sets of trajectories. The contribution of the paper is to provide a reliable framework to enclose the solutions of these differential equations. Its use is shown to be simple, more general and more competitive than existing approaches dealing with guaranteed integration, especially when applied to mobile robotics. The flexibility of the developed framework allows to deal with non-linear differential equations or even differential inclusions built from datasets, while considering observations of the states of interest. An illustration of this method is given over several examples with mobile robots.

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Acumen: An Open-Source Testbed for Cyber-Physical Systems Research

Cited by 23 publications

References 19 publications

Characterizing Sliding Surfaces of Cyber-Physical Systems

Characterizing Sliding Surfaces of Cyber-Physical Systems

Efficient Dynamic Error Reduction for Hybrid Systems Reachability Analysis

Guaranteed computation of robot trajectories

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