Active Sampling-Based Binary Verification of Dynamical Systems
Name
1706.04268.pdf
Description
Accepted version
Size
1.22 MB
Format
Adobe PDF
Checksum (MD5)
9cac6637999c4bd2363afed8e2cfae58
Author(s)
Quindlen, John F.
Topcu, Ufuk
Chowdhary, Girish
How, Jonathan P.
Date Issued
January 7, 2018
Publisher
American Institute of Aeronautics and Astronautics
Citation
Quindlen, John F., Topcu, Ufuk, Chowdhary, Girish and How, Jonathan P. 2018. "Active Sampling-Based Binary Verification of Dynamical Systems."
Version
Author's final manuscript
Abstract
© 2018, American Institute of Aeronautics and Astronautics Inc, AIAA. All rights reserved. Nonlinear, adaptive, or otherwise complex control techniques are increasingly relied upon to ensure the safety of systems operating in uncertain environments. However, the nonlinearity of the resulting closed-loop system complicates verification that the system does in fact satisfy those requirements at all possible operating conditions. While ana- lytical proof-based techniques and finite abstractions can be used to provably verify the closed-loop system’s response at different operating conditions, they often produce con- servative approximations due to restrictive assumptions and are dificult to construct in many applications. In contrast, popular statistical verification techniques relax the restric- tions and instead rely upon simulations to construct statistical or probabilistic guarantees. This work presents a data-driven statistical verification procedure that instead constructs statistical learning models from simulated training data to separate the set of possible perturbations into “safe” and “unsafe” subsets. Binary evaluations of closed-loop system requirement satisfaction at various realizations of the uncertainties are obtained through temporal logic robustness metrics, which are then used to construct predictive models of requirement satisfaction over the full set of possible uncertainties. As the accuracy of these predictive statistical models is inherently coupled to the quality of the training data, an active learning algorithm selects additional sample points in order to maximize the expected change in the data-driven model and thus, indirectly, minimize the prediction er- ror. Various case studies demonstrate the closed-loop verification procedure and highlight improvements in prediction error over both existing analytical and statistical verification techniques.
MIT Department
Massachusetts Institute of Technology. Department of Aeronautics and Astronautics
Massachusetts Institute of Technology. Department of Aeronautics and Astronautics
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Creative Commons Attribution-Noncommercial-Share Alike
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DOI of Published Version
https://doi.org/10.2514/6.2018-1107
