The algorithmic analysis of hybrid systems
Theoretical Computer Science - Special issue on hybrid systems
What's decidable about hybrid automata?
STOC '95 Proceedings of the twenty-seventh annual ACM symposium on Theory of computing
A New Class of Decidable Hybrid Systems
HSCC '99 Proceedings of the Second International Workshop on Hybrid Systems: Computation and Control
PVS: Combining Specification, Proof Checking, and Model Checking
CAV '96 Proceedings of the 8th International Conference on Computer Aided Verification
Information and Computation
QEPCAD B: a program for computing with semi-algebraic sets using CADs
ACM SIGSAM Bulletin
The Theory of Timed I/O Automata (Synthesis Lectures in Computer Science)
The Theory of Timed I/O Automata (Synthesis Lectures in Computer Science)
Constructing invariants for hybrid systems
Formal Methods in System Design
A verification framework for hybrid systems
A verification framework for hybrid systems
A Decidable Class of Planar Linear Hybrid Systems
HSCC '08 Proceedings of the 11th international workshop on Hybrid Systems: Computation and Control
Computing Differential Invariants of Hybrid Systems as Fixedpoints
CAV '08 Proceedings of the 20th international conference on Computer Aided Verification
Constraint-Based Approach for Analysis of Hybrid Systems
CAV '08 Proceedings of the 20th international conference on Computer Aided Verification
ICALP '08 Proceedings of the 35th international colloquium on Automata, Languages and Programming, Part II
Convergence Verification: From Shared Memory to Partially Synchronous Systems
FORMATS '08 Proceedings of the 6th international conference on Formal Modeling and Analysis of Timed Systems
Brief paper: Local stability analysis using simulations and sum-of-squares programming
Automatica (Journal of IFAC)
Temporal logic motion planning for dynamic robots
Automatica (Journal of IFAC)
Periodically Controlled Hybrid Systems
HSCC '09 Proceedings of the 12th International Conference on Hybrid Systems: Computation and Control
Safety verification of model helicopter controller using hybrid input/output automata
HSCC'03 Proceedings of the 6th international conference on Hybrid systems: computation and control
A fully automated framework for control of linear systems from LTL specifications
HSCC'06 Proceedings of the 9th international conference on Hybrid Systems: computation and control
Toward autonomous vehicle safety verification from mobile cyber-physical systems perspective
ACM SIGBED Review - Work-in-Progress (WiP) Session of the 2nd International Conference on Cyber Physical Systems
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This article introduces Periodically Controlled Hybrid Automata (PCHA) for modular specification of embedded control systems. In a PCHA, control actions that change the control input to the plant occur roughly periodically, while other actions that update the state of the controller may occur in the interim. Such actions could model, for example, sensor updates and information received from higher-level planning modules that change the set point of the controller. Based on periodicity and subtangential conditions, a new sufficient condition for verifying invariant properties of PCHAs is presented. For PCHAs with polynomial continuous vector fields, it is possible to check these conditions automatically using, for example, quantifier elimination or sum of squares decomposition. We examine the feasibility of this automatic approach on a small example. The proposed technique is also used to manually verify safety and progress properties of a fairly complex planner-controller subsystem of an autonomous ground vehicle. Geometric properties of planner-generated paths are derived which guarantee that such paths can be safely followed by the controller.