The Von Neumann bottleneck, a fundamental challenge in conventional computer architecture, arises from the inability to execute fetch and data operations simultaneously due to a shared bus linking processing and memory units. This bottleneck significantly limits system performance, increases energy consumption, and exacerbates computational complexity. Emerging technologies such as Resistive Random Access Memories (RRAMs), leveraging crossbar arrays, offer promising alternatives for addressing the demands of data-intensive computational tasks through in-memory computing of analog vector-matrix multiplication (VMM) operations. However, the propagation of errors due to device and circuit-level imperfections remains a significant challenge. In this study, we introduce MELISO (In-Memory Linear Solver), a comprehensive end-to-end VMM benchmarking framework tailored for RRAM-based systems. MELISO evaluates the error propagation in VMM operations, analyzing the impact of RRAM device metrics on error magnitude and distribution. This paper introduces the MELISO framework and demonstrates its utility in characterizing and mitigating VMM error propagation using state-of-the-art RRAM device metrics.
{"title":"The Lynchpin of In-Memory Computing: A Benchmarking Framework for Vector-Matrix Multiplication in RRAMs","authors":"Md Tawsif Rahman Chowdhury, Huynh Quang Nguyen Vo, Paritosh Ramanan, Murat Yildirim, Gozde Tutuncuoglu","doi":"arxiv-2409.06140","DOIUrl":"https://doi.org/arxiv-2409.06140","url":null,"abstract":"The Von Neumann bottleneck, a fundamental challenge in conventional computer\u0000architecture, arises from the inability to execute fetch and data operations\u0000simultaneously due to a shared bus linking processing and memory units. This\u0000bottleneck significantly limits system performance, increases energy\u0000consumption, and exacerbates computational complexity. Emerging technologies\u0000such as Resistive Random Access Memories (RRAMs), leveraging crossbar arrays,\u0000offer promising alternatives for addressing the demands of data-intensive\u0000computational tasks through in-memory computing of analog vector-matrix\u0000multiplication (VMM) operations. However, the propagation of errors due to\u0000device and circuit-level imperfections remains a significant challenge. In this\u0000study, we introduce MELISO (In-Memory Linear Solver), a comprehensive\u0000end-to-end VMM benchmarking framework tailored for RRAM-based systems. MELISO\u0000evaluates the error propagation in VMM operations, analyzing the impact of RRAM\u0000device metrics on error magnitude and distribution. This paper introduces the\u0000MELISO framework and demonstrates its utility in characterizing and mitigating\u0000VMM error propagation using state-of-the-art RRAM device metrics.","PeriodicalId":501175,"journal":{"name":"arXiv - EE - Systems and Control","volume":"36 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-09-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142217673","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Stem cell therapy is a promising approach to treat heart insufficiency and benefits from automated myocardial injection which requires highly precise motion of a robotic manipulator that is equipped with a syringe. This work investigates whether sufficiently precise motion can be achieved by combining a SCARA robot and learning control methods. For this purpose, the method Autonomous Iterative Motion Learning (AI-MOLE) is extended to be applicable to multi-input/multi-output systems. The proposed learning method solves reference tracking tasks in systems with unknown, nonlinear, multi-input/multi-output dynamics by iteratively updating an input trajectory in a plug-and-play fashion and without requiring manual parameter tuning. The proposed learning method is validated in a preliminary simulation study of a simplified SCARA robot that has to perform three desired motions. The results demonstrate that the proposed learning method achieves highly precise reference tracking without requiring any a priori model information or manual parameter tuning in as little as 15 trials per motion. The results further indicate that the combination of a SCARA robot and learning method achieves sufficiently precise motion to potentially enable automatic myocardial injection if similar results can be obtained in a real-world setting.
{"title":"Autonomous Iterative Motion Learning (AI-MOLE) of a SCARA Robot for Automated Myocardial Injection","authors":"Michael Meindl, Raphael Mönkemöller, Thomas Seel","doi":"arxiv-2409.06361","DOIUrl":"https://doi.org/arxiv-2409.06361","url":null,"abstract":"Stem cell therapy is a promising approach to treat heart insufficiency and\u0000benefits from automated myocardial injection which requires highly precise\u0000motion of a robotic manipulator that is equipped with a syringe. This work\u0000investigates whether sufficiently precise motion can be achieved by combining a\u0000SCARA robot and learning control methods. For this purpose, the method\u0000Autonomous Iterative Motion Learning (AI-MOLE) is extended to be applicable to\u0000multi-input/multi-output systems. The proposed learning method solves reference\u0000tracking tasks in systems with unknown, nonlinear, multi-input/multi-output\u0000dynamics by iteratively updating an input trajectory in a plug-and-play fashion\u0000and without requiring manual parameter tuning. The proposed learning method is\u0000validated in a preliminary simulation study of a simplified SCARA robot that\u0000has to perform three desired motions. The results demonstrate that the proposed\u0000learning method achieves highly precise reference tracking without requiring\u0000any a priori model information or manual parameter tuning in as little as 15\u0000trials per motion. The results further indicate that the combination of a SCARA\u0000robot and learning method achieves sufficiently precise motion to potentially\u0000enable automatic myocardial injection if similar results can be obtained in a\u0000real-world setting.","PeriodicalId":501175,"journal":{"name":"arXiv - EE - Systems and Control","volume":"10 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-09-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142217669","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
E. Petri, K. J. A. Scheres, E. Steur, W. P. M. H. Heemels
In this paper we analyze a neuromorphic controller, inspired by the leaky integrate-and-fire neuronal model, in closed-loop with a single-input single-output linear time-invariant system. The controller consists of two neuron-like variables and generates a spiking control input whenever one of these variables reaches a threshold. The control input is different from zero only at the spiking instants and, hence, between two spiking times the system evolves in open-loop. Exploiting the hybrid nature of the integrate-and-fire neuronal dynamics, we present a hybrid modeling framework to design and analyze this new controller. In the particular case of single-state linear time-invariant plants, we prove a practical stability property for the closed-loop system, we ensure the existence of a strictly positive dwell-time between spikes, and we relate these properties to the parameters in the neurons. The results are illustrated in a numerical example.
{"title":"Analysis of a Simple Neuromorphic Controller for Linear Systems: A Hybrid Systems Perspective","authors":"E. Petri, K. J. A. Scheres, E. Steur, W. P. M. H. Heemels","doi":"arxiv-2409.06353","DOIUrl":"https://doi.org/arxiv-2409.06353","url":null,"abstract":"In this paper we analyze a neuromorphic controller, inspired by the leaky\u0000integrate-and-fire neuronal model, in closed-loop with a single-input\u0000single-output linear time-invariant system. The controller consists of two\u0000neuron-like variables and generates a spiking control input whenever one of\u0000these variables reaches a threshold. The control input is different from zero\u0000only at the spiking instants and, hence, between two spiking times the system\u0000evolves in open-loop. Exploiting the hybrid nature of the integrate-and-fire\u0000neuronal dynamics, we present a hybrid modeling framework to design and analyze\u0000this new controller. In the particular case of single-state linear\u0000time-invariant plants, we prove a practical stability property for the\u0000closed-loop system, we ensure the existence of a strictly positive dwell-time\u0000between spikes, and we relate these properties to the parameters in the\u0000neurons. The results are illustrated in a numerical example.","PeriodicalId":501175,"journal":{"name":"arXiv - EE - Systems and Control","volume":"4 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-09-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142217828","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Controlling connected automated vehicles (CAVs) via vehicle-to-everything (V2X) connectivity holds significant promise for improving fuel economy and traffic efficiency. However, to deploy CAVs and reap their benefits, their controllers must guarantee their safety. In this paper, we apply control barrier function (CBF) theory to investigate the safety of CAVs implementing connected cruise control (CCC). Specifically, we study how stability, connection architecture, and the CAV's response time impact the safety of CCC. Through safety and stability analyses, we derive stable and safe choices of control gains, and show that safe CAV operation requires plant and head-to-tail string stability in most cases. Furthermore, the reaction time of vehicles, which is represented as a first-order lag, has a detrimental effect on safety. We determine the critical value of this lag, above which safe CCC gains do not exist. To guarantee safety even with lag while preserving the benefits of CCC, we synthesize safety-critical CCC using CBFs. With the proposed safety-critical CCC, the CAV can leverage information from connected vehicles farther ahead to improve its safety. We evaluate this controller by numerical simulation using real traffic data.
{"title":"Safe and Stable Connected Cruise Control for Connected Automated Vehicles with Response Lag","authors":"Yuchen Chen, Gabor Orosz, Tamas G. Molnar","doi":"arxiv-2409.06884","DOIUrl":"https://doi.org/arxiv-2409.06884","url":null,"abstract":"Controlling connected automated vehicles (CAVs) via vehicle-to-everything\u0000(V2X) connectivity holds significant promise for improving fuel economy and\u0000traffic efficiency. However, to deploy CAVs and reap their benefits, their\u0000controllers must guarantee their safety. In this paper, we apply control\u0000barrier function (CBF) theory to investigate the safety of CAVs implementing\u0000connected cruise control (CCC). Specifically, we study how stability,\u0000connection architecture, and the CAV's response time impact the safety of CCC.\u0000Through safety and stability analyses, we derive stable and safe choices of\u0000control gains, and show that safe CAV operation requires plant and head-to-tail\u0000string stability in most cases. Furthermore, the reaction time of vehicles,\u0000which is represented as a first-order lag, has a detrimental effect on safety.\u0000We determine the critical value of this lag, above which safe CCC gains do not\u0000exist. To guarantee safety even with lag while preserving the benefits of CCC,\u0000we synthesize safety-critical CCC using CBFs. With the proposed safety-critical\u0000CCC, the CAV can leverage information from connected vehicles farther ahead to\u0000improve its safety. We evaluate this controller by numerical simulation using\u0000real traffic data.","PeriodicalId":501175,"journal":{"name":"arXiv - EE - Systems and Control","volume":"299 1 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-09-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142217834","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
J. Garcia-Echeverria, D. Musat, A. Mahsafar, K. R. Mojaver, D. Rolston, G. Cowan, O. Liboiron-Ladouceur
This paper presents a microring resonator-based weight function for neuromorphic photonic applications achieving a record-high precision of 11.3 bits and accuracy of 9.3 bits for 2 Gbps input optical signals. The system employs an all-analog self-referenced proportional-integral-derivative (PID) controller to perform real-time temperature stabilization within a range of up to 60 degree Celsius. A self-calibrated weight function is demonstrated for a range of 6 degree Celsius with a single initial calibration and minimal accuracy and precision degradation. By monitoring the through and drop ports of the microring with variable gain transimpedance amplifiers, accurate and precise weight adjustment is achieved, ensuring optimal performance and reliability. These findings underscore the system's robustness to dynamic thermal environments, highlighting the potential for high-speed reconfigurable analog photonic networks.
{"title":"Self-calibrated Microring Weight Function for Neuromorphic Optical Computing","authors":"J. Garcia-Echeverria, D. Musat, A. Mahsafar, K. R. Mojaver, D. Rolston, G. Cowan, O. Liboiron-Ladouceur","doi":"arxiv-2409.06604","DOIUrl":"https://doi.org/arxiv-2409.06604","url":null,"abstract":"This paper presents a microring resonator-based weight function for\u0000neuromorphic photonic applications achieving a record-high precision of 11.3\u0000bits and accuracy of 9.3 bits for 2 Gbps input optical signals. The system\u0000employs an all-analog self-referenced proportional-integral-derivative (PID)\u0000controller to perform real-time temperature stabilization within a range of up\u0000to 60 degree Celsius. A self-calibrated weight function is demonstrated for a\u0000range of 6 degree Celsius with a single initial calibration and minimal\u0000accuracy and precision degradation. By monitoring the through and drop ports of\u0000the microring with variable gain transimpedance amplifiers, accurate and\u0000precise weight adjustment is achieved, ensuring optimal performance and\u0000reliability. These findings underscore the system's robustness to dynamic\u0000thermal environments, highlighting the potential for high-speed reconfigurable\u0000analog photonic networks.","PeriodicalId":501175,"journal":{"name":"arXiv - EE - Systems and Control","volume":"4 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-09-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142217836","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Hanzheng Zhang, Zhaoyang Cheng, Guanpu Chen, Karl Henrik Johansson
We investigate the equilibrium stability and robustness in a class of moving target defense problems, in which players have both incomplete information and asymmetric cognition. We first establish a Bayesian Stackelberg game model for incomplete information and then employ a hypergame reformulation to address asymmetric cognition. With the core concept of the hyper Bayesian Nash equilibrium (HBNE), a condition for achieving both the strategic and cognitive stability in equilibria can be realized by solving linear equations. Moreover, to deal with players' underlying perturbed knowledge, we study the equilibrium robustness by presenting a condition of robust HBNE under the given configuration. Experiments evaluate our theoretical results.
{"title":"Bayesian hypergame approach to equilibrium stability and robustness in moving target defense","authors":"Hanzheng Zhang, Zhaoyang Cheng, Guanpu Chen, Karl Henrik Johansson","doi":"arxiv-2409.06610","DOIUrl":"https://doi.org/arxiv-2409.06610","url":null,"abstract":"We investigate the equilibrium stability and robustness in a class of moving\u0000target defense problems, in which players have both incomplete information and\u0000asymmetric cognition. We first establish a Bayesian Stackelberg game model for\u0000incomplete information and then employ a hypergame reformulation to address\u0000asymmetric cognition. With the core concept of the hyper Bayesian Nash\u0000equilibrium (HBNE), a condition for achieving both the strategic and cognitive\u0000stability in equilibria can be realized by solving linear equations. Moreover,\u0000to deal with players' underlying perturbed knowledge, we study the equilibrium\u0000robustness by presenting a condition of robust HBNE under the given\u0000configuration. Experiments evaluate our theoretical results.","PeriodicalId":501175,"journal":{"name":"arXiv - EE - Systems and Control","volume":"181 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-09-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142217832","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
In this paper, we investigate the property verification problem for partially-observed DES from a new perspective. Specifically, we consider the problem setting where the system is observed by two agents independently, each with its own observation. The purpose of the first agent, referred to as the low-level observer, is to infer the actual behavior of the system, while the second, referred to as the high-level observer, aims to infer the knowledge of Agent 1 regarding the system. We present a general notion called the epistemic property capturing the inference from the high-level observer to the low-level observer. A typical instance of this definition is the notion of high-order opacity, which specifies that the intruder does not know that the system knows some critical information. This formalization is very general and supports any user-defined information-state-based knowledge between the two observers. We demonstrate how the general definition of epistemic properties can be applied in different problem settings such as information leakage diagnosis or tactical cooperation without explicit communications. Finally, we provide a systematic approach for the verification of epistemic properties. Particularly, we identify some fragments of epistemic properties that can be verified more efficiently.
在本文中，我们从一个新的角度研究了部分观测的 DES 的属性验证问题。具体来说，我们考虑的问题设置是系统由两个代理独立观测，每个代理都有自己的观测结果。第一个代理（称为低级观察者）的目的是推断系统的实际行为，而第二个代理（称为高级观察者）的目的是推断代理 1 有关系统的知识。我们提出了一个称为 "认识属性"（epistemicproperty）的一般概念，它捕捉了从高层观察者到低层观察者的推论。这一定义的一个典型例子是高阶不确定性概念，它规定入侵者不知道系统知道某些关键信息。这种形式化非常通用，支持两个观察者之间任何用户定义的基于信息状态的知识。我们展示了认识论属性的一般定义如何应用于不同的问题设置，如信息泄露诊断或无显式通信的战术合作。最后，我们提供了验证认识论属性的系统方法。特别是，我们确定了一些可以更有效验证的认识论属性片段。
{"title":"On Epistemic Properties in Discrete-Event Systems: A Uniform Framework and Its Applications","authors":"Bohan Cui, Ziyue Ma, Shaoyuan Li, Xiang Yin","doi":"arxiv-2409.06588","DOIUrl":"https://doi.org/arxiv-2409.06588","url":null,"abstract":"In this paper, we investigate the property verification problem for\u0000partially-observed DES from a new perspective. Specifically, we consider the\u0000problem setting where the system is observed by two agents independently, each\u0000with its own observation. The purpose of the first agent, referred to as the\u0000low-level observer, is to infer the actual behavior of the system, while the\u0000second, referred to as the high-level observer, aims to infer the knowledge of\u0000Agent 1 regarding the system. We present a general notion called the epistemic\u0000property capturing the inference from the high-level observer to the low-level\u0000observer. A typical instance of this definition is the notion of high-order\u0000opacity, which specifies that the intruder does not know that the system knows\u0000some critical information. This formalization is very general and supports any\u0000user-defined information-state-based knowledge between the two observers. We\u0000demonstrate how the general definition of epistemic properties can be applied\u0000in different problem settings such as information leakage diagnosis or tactical\u0000cooperation without explicit communications. Finally, we provide a systematic\u0000approach for the verification of epistemic properties. Particularly, we\u0000identify some fragments of epistemic properties that can be verified more\u0000efficiently.","PeriodicalId":501175,"journal":{"name":"arXiv - EE - Systems and Control","volume":"72 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-09-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142217827","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Bobby Schulz, Bryan Runck, Andrew Hollman, Ann Piotrowski, Eric Watkins
Carbon dioxide levels below the soil surface are an important measurement relating to plant health, especially for plants such as perennial grasses in northern climates where ice encasement can occur over winter. In such cases, the CO$_2$ levels can build up and become toxic. This is likely a significant contributor to turfgrass death over winter; however, there is an insufficient amount of data regarding this phenomenon in large part due to the lack of effective sensors. Many off the shelf CO$_2$ sensors exist, but they are not sufficiently hardened for in ground deployment over winter. As a result, the only options currently available are very costly automated gas samplers or manual sampling at intervals with laboratory testing -- a process that results in a limited number of data points and is labor intensive. To combat this problem we have taken an established NDIR CO$_2$ sensor and hardened it for use in winter and ice encased environments to allow for continuous automated sampling of subsurface CO$_2$ levels to better understand ice encasement damage in perennial grass systems.
{"title":"A Hardened CO$_2$ Sensor for In-Ground Continuous Measurement in a Perennial Grass System","authors":"Bobby Schulz, Bryan Runck, Andrew Hollman, Ann Piotrowski, Eric Watkins","doi":"arxiv-2409.06828","DOIUrl":"https://doi.org/arxiv-2409.06828","url":null,"abstract":"Carbon dioxide levels below the soil surface are an important measurement\u0000relating to plant health, especially for plants such as perennial grasses in\u0000northern climates where ice encasement can occur over winter. In such cases,\u0000the CO$_2$ levels can build up and become toxic. This is likely a significant\u0000contributor to turfgrass death over winter; however, there is an insufficient\u0000amount of data regarding this phenomenon in large part due to the lack of\u0000effective sensors. Many off the shelf CO$_2$ sensors exist, but they are not\u0000sufficiently hardened for in ground deployment over winter. As a result, the\u0000only options currently available are very costly automated gas samplers or\u0000manual sampling at intervals with laboratory testing -- a process that results\u0000in a limited number of data points and is labor intensive. To combat this\u0000problem we have taken an established NDIR CO$_2$ sensor and hardened it for use\u0000in winter and ice encased environments to allow for continuous automated\u0000sampling of subsurface CO$_2$ levels to better understand ice encasement damage\u0000in perennial grass systems.","PeriodicalId":501175,"journal":{"name":"arXiv - EE - Systems and Control","volume":"181 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-09-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142217813","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Yiting Chen, Pol Mestres, Jorge Cortes, Emiliano Dall'Anese
Control barrier functions (CBFs) play a critical role in the design of safe optimization-based controllers for control-affine systems. Given a CBF associated with a desired ``safe'' set, the typical approach consists in embedding CBF-based constraints into the optimization problem defining the control law to enforce forward invariance of the safe set. While this approach effectively guarantees safety for a given CBF, the CBF-based control law can introduce undesirable equilibrium points (i.e., points that are not equilibria of the original system); open questions remain on how the choice of CBF influences the number and locations of undesirable equilibria and, in general, the dynamics of the closed-loop system. This paper investigates how the choice of CBF impacts the dynamics of the closed-loop system and shows that: (i) The CBF does not affect the number, location, and (local) stability properties of the equilibria in the interior of the safe set; (ii) undesirable equilibria only appear on the boundary of the safe set; and, (iii) the number and location of undesirable equilibria for the closed-loop system do not depend of the choice of the CBF. Additionally, for the well-established safety filters and controllers based on both CBF and control Lyapunov functions (CLFs), we show that the stability properties of equilibria of the closed-loop system are independent of the choice of the CBF and of the associated extended class-K function.
{"title":"Equilibria and Their Stability Do Not Depend on the Control Barrier Function in Safe Optimization-Based Control","authors":"Yiting Chen, Pol Mestres, Jorge Cortes, Emiliano Dall'Anese","doi":"arxiv-2409.06808","DOIUrl":"https://doi.org/arxiv-2409.06808","url":null,"abstract":"Control barrier functions (CBFs) play a critical role in the design of safe\u0000optimization-based controllers for control-affine systems. Given a CBF\u0000associated with a desired ``safe'' set, the typical approach consists in\u0000embedding CBF-based constraints into the optimization problem defining the\u0000control law to enforce forward invariance of the safe set. While this approach\u0000effectively guarantees safety for a given CBF, the CBF-based control law can\u0000introduce undesirable equilibrium points (i.e., points that are not equilibria\u0000of the original system); open questions remain on how the choice of CBF\u0000influences the number and locations of undesirable equilibria and, in general,\u0000the dynamics of the closed-loop system. This paper investigates how the choice\u0000of CBF impacts the dynamics of the closed-loop system and shows that: (i) The\u0000CBF does not affect the number, location, and (local) stability properties of\u0000the equilibria in the interior of the safe set; (ii) undesirable equilibria\u0000only appear on the boundary of the safe set; and, (iii) the number and location\u0000of undesirable equilibria for the closed-loop system do not depend of the\u0000choice of the CBF. Additionally, for the well-established safety filters and\u0000controllers based on both CBF and control Lyapunov functions (CLFs), we show\u0000that the stability properties of equilibria of the closed-loop system are\u0000independent of the choice of the CBF and of the associated extended class-K\u0000function.","PeriodicalId":501175,"journal":{"name":"arXiv - EE - Systems and Control","volume":"110 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-09-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142217814","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Nayel Fabian Salem, Marcus Nolte, Veronica Haber, Till Menzel, Hans Steege, Robert Graubohm, Markus Maurer
Vehicles in public traffic that are equipped with Automated Driving Systems are subject to a number of expectations: Among other aspects, their behavior should be safe, conforming to the rules of the road and provide mobility to their users. This poses challenges for the developers of such systems: Developers are responsible for specifying this behavior, for example, in terms of requirements at system design time. As we will discuss in the article, this specification always involves the need for assumptions and trade-offs. As a result, insufficiencies in such a behavior specification can occur that can potentially lead to unsafe system behavior. In order to support the identification of specification insufficiencies, requirements and respective assumptions need to be made explicit. In this article, we propose the Semantic Norm Behavior Analysis as an ontology-based approach to specify the behavior for an Automated Driving System equipped vehicle. We use ontologies to formally represent specified behavior for a targeted operational environment, and to establish traceability between specified behavior and the addressed stakeholder needs. Furthermore, we illustrate the application of the Semantic Norm Behavior Analysis in two example scenarios and evaluate our results.
{"title":"An Ontology-based Approach Towards Traceable Behavior Specifications in Automated Driving","authors":"Nayel Fabian Salem, Marcus Nolte, Veronica Haber, Till Menzel, Hans Steege, Robert Graubohm, Markus Maurer","doi":"arxiv-2409.06607","DOIUrl":"https://doi.org/arxiv-2409.06607","url":null,"abstract":"Vehicles in public traffic that are equipped with Automated Driving Systems\u0000are subject to a number of expectations: Among other aspects, their behavior\u0000should be safe, conforming to the rules of the road and provide mobility to\u0000their users. This poses challenges for the developers of such systems:\u0000Developers are responsible for specifying this behavior, for example, in terms\u0000of requirements at system design time. As we will discuss in the article, this\u0000specification always involves the need for assumptions and trade-offs. As a\u0000result, insufficiencies in such a behavior specification can occur that can\u0000potentially lead to unsafe system behavior. In order to support the\u0000identification of specification insufficiencies, requirements and respective\u0000assumptions need to be made explicit. In this article, we propose the Semantic\u0000Norm Behavior Analysis as an ontology-based approach to specify the behavior\u0000for an Automated Driving System equipped vehicle. We use ontologies to formally\u0000represent specified behavior for a targeted operational environment, and to\u0000establish traceability between specified behavior and the addressed stakeholder\u0000needs. Furthermore, we illustrate the application of the Semantic Norm Behavior\u0000Analysis in two example scenarios and evaluate our results.","PeriodicalId":501175,"journal":{"name":"arXiv - EE - Systems and Control","volume":"37 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-09-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142217835","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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