Event

Multi-candidate Simplex runtime construction of safe regions of attraction

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Georg Jäger and co-authors propose a two-stage region of attraction (RoA) certification pipeline: first, a contraction-based stability analysis determines the target set, then Taylor-model reachability analysis verifies it, thereby constructing a context-dependent safe RoA at runtime and enabling safe switching among high-assurance controller candidates. The authors performed three levels of validation on a robot path-tracking task: ordinary differential equation simulation, high-fidelity Gazebo simulation with unmodeled dynamics, and physical hardware experiments. The authors state that the Simplex architecture remains safe under fault injection and successfully shields a high-performance controller trained via behavior cloning; the decision module takes an average of 0.028 ms and a worst case of 4.13 ms, accounting for less than 10% of the control period.