论文标题
基于障碍的方案方法，用于验证关键安全系统
A Barrier-Based Scenario Approach to Verify Safety-Critical Systems
论文作者
论文摘要
在这封信中，我们详细介绍了对安全至关重要系统验证的随机方法。我们的方法需要有限的系统数据来做出强大的验证声明。具体而言，我们的方法首先随机对受控，连续时间系统的初始条件和参数采样，并以离散的间隔记录随后的状态轨迹。然后，我们在候选屏障功能$ H $下评估这些状态，以确定随机线性程序的约束。然后，该程序的解决方案提供了概率验证语句或反例。为了显示我们结果的有效性，我们验证了Robotarium模拟器，并确定其硬件对应物的反例。我们还提供数值证据，以在同一环境中验证我们的验证声明。此外，我们表明我们的方法是通过在多代理设置中在四足动物系统上执行相同的验证方法而与系统无关的。
In this letter, we detail our randomized approach to safety-critical system verification. Our method requires limited system data to make a strong verification statement. Specifically, our method first randomly samples initial conditions and parameters for a controlled, continuous-time system and records the ensuing 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 then provides either a probabilistic verification statement or a counterexample. To show the validity of our results, we verify the robotarium simulator and identify counterexamples for its hardware counterpart. We also provide numerical evidence to validate our verification statements in the same setting. Furthermore, we show that our method is system-independent by performing the same verification method on a quadrupedal system in a multi-agent setting as well.
