  An important task of uncertainty quantification is to identify {the
probability of} undesired events, in particular, system failures, caused by
various sources of uncertainties. In this work we consider the construction of
Gaussian {process} surrogates for failure detection and failure probability
estimation. In particular, we consider the situation that the underlying
computer models are extremely expensive, and in this setting, determining the
sampling points in the state space is of essential importance. We formulate the
problem as an optimal experimental design for Bayesian inferences of the limit
state (i.e., the failure boundary) and propose an efficient numerical scheme to
solve the resulting optimization problem. In particular, the proposed
limit-state inference method is capable of determining multiple sampling points
at a time, and thus it is well suited for problems where multiple computer
simulations can be performed in parallel. The accuracy and performance of the
proposed method is demonstrated by both academic and practical examples.
