CPS: Medium: Resilient-by-Cognition Cyber-Physical Systems

CPS：中：认知弹性网络物理系统

• 批准号: 1837589
• 负责人: Yasser Shoukry
• 金额: $ 79.71万
• 依托单位: University of Maryland, College Park
• 依托单位国家: 美国
• 项目类别: Standard Grant
• 财政年份: 2018
• 资助国家: 美国
• 起止时间: 2018-10-01 至 2020-02-29
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=1837589&HistoricalAwards=false
• 关键词: CPS; Medium; Resilient; Cognition; Cyber

Autonomous systems in general and self-driving cars in particular, hold the promise to be one of the most disruptive technologies emerging in recent years. However, the safety and resilience of these systems, if not proactively addressed, will pose a significant threat potentially impairing our relationship with these technologies and may lead to a societal rejection of adopting them permanently. This project seeks to address such concerns by equipping autonomous systems with an additional layer of intelligence allowing them to be resilient-by-cognition.The research addresses resilience for autonomous cyber-physical systems (CPS) by integrating concepts from game theory, formal methods, and controls. Our proposed approach includes: (i) a principled framework for formally reasoning about cognitive CPS; that is, given a set of strategies captured in a formal language (e.g., temporal logic), the proposed framework builds on ideas from evolutionary game theory to understand which strategies lead to the best fit when operating in adversarial environments (ii) On-the-fly, correct-by-design feedback controller synthesis that executes the chosen strategy while satisfying physical constraints imposed by the micro-dynamics of the underlying CPS (iii) a data-driven strategy-mining approach that addresses the fundamental problem of designing the library of strategies from human demonstrations. We will illustrate our approach over key applications including self-driving cars and autonomous drone swarms. Our educational plan engages not only graduate students but also high school and undergraduate students. It also reaches out to engineers and the lay public, by providing open source implementations of our algorithms making them available both to industry and independent developers.This award reflects NSF's statutory mission and has been deemed worthy of support through evaluation using the Foundation's intellectual merit and broader impacts review criteria.

总的来说，自动驾驶系统，尤其是自动驾驶汽车，有望成为近年来出现的最具颠覆性的技术之一。然而，这些系统的安全性和弹性，如果不积极解决，将构成重大威胁，可能会损害我们与这些技术的关系，并可能导致社会对永久采用这些技术的拒绝。该项目试图通过为自主系统配备额外的智能层来解决这些问题，使它们能够通过认知具有弹性。研究通过整合博弈论、形式化方法和控制的概念来解决自主网络物理系统(CPS)的弹性。我们提出的方法包括：(I)一个关于认知CP的形式推理的原则性框架；即，给定一组以形式语言(例如，时态逻辑)捕获的策略，该框架建立在进化博弈论的思想基础上，以了解哪些策略在对抗性环境中操作时最佳匹配(Ii)即时、设计正确的反馈控制器综合，它在执行所选策略的同时满足潜在CP的微观动力学施加的物理约束(Iii)数据驱动的策略挖掘方法，解决根据人类演示设计策略库的基本问题。我们将说明我们在自动驾驶汽车和自动无人机群等关键应用方面的做法。我们的教育计划不仅招收研究生，还招收高中生和本科生。它还通过提供我们的算法的开源实现，使其可供行业和独立开发人员使用，从而接触到工程师和普通公众。该奖项反映了NSF的法定使命，并通过使用基金会的智力优势和更广泛的影响审查标准进行评估，被认为值得支持。

项目成果

DoS-Resilient Multi-Robot Temporal Logic Motion Planning

• DOI: 10.1109/icra.2019.8794477
• 发表时间: 2019-05
• 期刊: 2019 International Conference on Robotics and Automation (ICRA)
• 作者: Xiaowu Sun;R. Nambiar;Matthew Melhorn;Yasser Shoukry;P. Nuzzo

A variational problem on the probability simplex

概率单纯形的变分问题

• DOI: 10.1109/cdc.2018.8619147
• 发表时间: 2018
• 期刊: 2018 IEEE Conference on Decision and Control (CDC
• 作者: Raju, Vidya;Krishnaprasad, P. S.
• 通讯作者: Krishnaprasad, P. S.