Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: A New Simulation Metric to Determine Safe Environments and Controllers
  for Systems with Unknown Dynamics   We consider the problem of extracting safe environments and controllers for
reach-avoid objectives for systems with known state and control spaces, but
unknown dynamics. In a given environment, a common approach is to synthesize a
controller from an abstraction or a model of the system (potentially learned
from data). However, in many situations, the relationship between the dynamics
of the model and the \textit{actual system} is not known; and hence it is
difficult to provide safety guarantees for the system. In such cases, the
Standard Simulation Metric (SSM), defined as the worst-case norm distance
between the model and the system output trajectories, can be used to modify a
reach-avoid specification for the system into a more stringent specification
for the abstraction. Nevertheless, the obtained distance, and hence the
modified specification, can be quite conservative. This limits the set of
environments for which a safe controller can be obtained. We propose SPEC, a
specification-centric simulation metric, which overcomes these limitations by
computing the distance using only the trajectories that violate the
specification for the system. We show that modifying a reach-avoid
specification with SPEC allows us to synthesize a safe controller for a larger
set of environments compared to SSM. We also propose a probabilistic method to
compute SPEC for a general class of systems. Case studies using simulators for
quadrotors and autonomous cars illustrate the advantages of the proposed metric
for determining safe environment sets and controllers.

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The categories of this paper are: physics
16
The categories of this paper are: stat
9
The categories of this paper are: nlin
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The categories of this paper are: hep-ex
25
The categories of this paper are: patt-sol
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The categories of this paper are: math-ph
13
The categories of this paper are: quant-ph
36
The categories of this paper are: cmp-lg
30
The categories of this paper are: q-alg
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The categories of this paper are: eess
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The categories of this paper are: q-bio
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The categories of this paper are: atom-ph
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The categories of this paper are: nucl-ex
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The categories of this paper are: gr-qc
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The categories of this paper are: supr-con
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The categories of this paper are: q-fin