Related papers: Symbolic Approximate Time-Optimal Control
We consider the symbolic controller synthesis approach to enforce safety specifications on perturbed, nonlinear control systems. In general, in each state of the system several control values might be applicable to enforce the safety…
In this paper, we consider the notions of effort and resilience of a dynamical control system defined by the maximum disturbance the system can withstand while satisfying given finite temporal logic specifications. Given a dynamical system…
Finite-state models of control systems were proposed by several researchers as a convenient mechanism to synthesize controllers enforcing complex specifications. Most techniques for the construction of such symbolic models have two main…
In this paper, we present a provably correct controller synthesis approach for switched stochastic control systems with metric temporal logic (MTL) specifications with provable probabilistic guarantees. We first present the stochastic…
The fundamental idea of this work is to synthesize reactive controllers such that closed-loop execution trajectories of the system satisfy desired specifications that ensure correct system behaviors, while optimizing a desired performance…
The last decade has witnessed significant attention on networked control systems (NCS) due to their ubiquitous presence in industrial applications, and, in the particular case of wireless NCS, because of their architectural flexibility and…
Discrete-time stochastic systems are an essential modelling tool for many engineering systems. We consider stochastic control systems that are evolving over continuous spaces. For this class of models, methods for the formal verification…
The research area of Networked Control Systems (NCS) has been the topic of intensive study in the last decade. In this paper we give a contribution to this research line by addressing symbolic control design of (possibly unstable) nonlinear…
Autonomous agents often operate in uncertain environments where their decisions are made based on beliefs over states of targets. We are interested in controller synthesis for complex tasks defined over belief spaces. Designing such…
Motivated by the recent interest in risk-aware control, we study a continuous-time control synthesis problem to bound the risk that a stochastic linear system violates a given specification. We use risk signal temporal logic as a…
We introduce a metric that can quantify the temporal relaxation of Signal Temporal Logic (STL) specifications and facilitate resilient control synthesis in the face of infeasibilities. The proposed metric quantifies a cumulative notion of…
The control synthesis of a dynamic system subject to a signal temporal logic (STL) specification is commonly formulated as a mixed-integer linear/convex programming (MILP/MICP) problem. Solving such a problem is computationally expensive…
Symbolic models have recently spurred the interest of the research community because they offer a correct-by-design approach to the control of embedded and cyber-physical systems. In this paper we address construction of symbolic models for…
This paper investigates the problem of designing control policies that satisfy high-level specifications described by signal temporal logic (STL) in unknown, stochastic environments. While many existing works concentrate on optimizing the…
We propose a symbolic self-triggered controller synthesis procedure for non-deterministic continuous-time nonlinear systems without stability assumptions. The goal is to compute a controller that satisfies two objectives. The first…
We present novel results on the solution of a class of leavable, undiscounted optimal control problems in the minimax sense for nonlinear, continuous-state, discrete-time plants. The problem class includes entry-(exit-)time problems as well…
When multiple model predictive controllers are implemented on a shared control area network (CAN), their performance may degrade due to the inhomogeneous timing and delays among messages. The priority based real-time scheduling of messages…
The use of spatio-temporal logics in control is motivated by the need to impose complex spatial and temporal behavior on dynamical systems, and to control these systems accordingly. Synthesizing correct-by-design control laws is a…
Automatic synthesis from linear temporal logic (LTL) specifications is widely used in robotic motion planning, control of autonomous systems, and load distribution in power networks. A common specification pattern in such applications…
Time-delay systems are an important class of dynamical systems that provide a solid mathematical framework to deal with many application domains of interest. In this paper we focus on nonlinear control systems with unknown and time-varying…