Related papers: Symbolic Approximate Time-Optimal Control
Because of the scalability issues associated with the symbolic controller synthesis approach, employing it in a multi-agent system (MAS) framework becomes difficult. In this paper, we present a novel approach for synthesizing distributed…
In this paper, the moment matching techniques are adopted to obtain reduced-order closed-loop systems with reduced-order controllers that maintain the closed-loop stability and guarantee desired asymptotic performance, after revealing the…
In this paper, we propose a new self-triggered formulation of Model Predictive Control for continuous-time linear networked control systems. Our control approach, which aims at reducing the number of transmitting control samples to the…
This paper proposes a general formulation for temporal parallelisation of dynamic programming for optimal control problems. We derive the elements and associative operators to be able to use parallel scans to solve these problems with…
Proportional control can be realized directly through the amplification of analog signals, and it also has the advantage of easy tuning parameters in digital signal control. However, it is difficult for the proportional control to preset…
In this work, we propose an abstraction and refinement methodology for the controller synthesis of discrete-time stochastic systems to enforce complex logical properties expressed by deterministic finite automata (a.k.a. DFA). Our proposed…
Motivated by the recent interest in formal methods-based control for dynamic robots, we discuss the applicability of prescribed performance control to nonlinear systems subject to signal temporal logic specifications. Prescribed performance…
Next-generation autonomous systems must execute complex tasks in uncertain environments. Active perception, where an autonomous agent selects actions to increase knowledge about the environment, has gained traction in recent years for…
This work presents a dual-agent \ac{llm}-based reasoning framework for automated planar mechanism synthesis that tightly couples linguistic specification with symbolic representation and simulation. From a natural-language task description,…
In recent years, event and self-triggered control have been proposed as energy-aware control strategies to expand the life-time of battery powered devices in Networked Control Systems (NCSs). In contrast to the previous works in which their…
In this thesis, the synthesis of correct-by-construction controllers for robots assisting in Search and Rescue (SAR) is considered. In recent years, the development of robots assisting in disaster mitigation in urban environments has been…
Controller synthesis for hybrid systems that satisfy temporal specifications expressing various system properties is a challenging problem that has drawn the attention of many researchers. However, making the assumption that such temporal…
This paper proposes a specification-guided framework for control of nonlinear systems with linear temporal logic (LTL) specifications. In contrast with well-known abstraction-based methods, the proposed framework directly characterizes the…
We present an abstraction and refinement methodology for the automated controller synthesis to enforce general predefined specifications. The designed controllers require quantized (or symbolic) state information only and can be interfaced…
Though switched dynamical systems have shown great utility in modeling a variety of physical phenomena, the construction of an optimal control of such systems has proven difficult since it demands some type of optimal mode scheduling. In…
The article outlines the methodology of structural and parametric synthesis of neural network controllers for controlling objects with limiters under incomplete information about the controlled object. Artificial neural networks are used to…
Temporal synthesis is the automated design of a system that interacts with an environment, using the declarative specification of the system's behavior. A popular language for providing such a specification is Linear Temporal Logic, or LTL.…
We study the problem of controlling multi-agent systems under a set of signal temporal logic tasks. Signal temporal logic is a formalism that is used to express time and space constraints for dynamical systems. Recent methods to solve the…
Many Embedded Systems are indeed Software Based Control Systems, that is control systems whose controller consists of control software running on a microcontroller device. This motivates investigation on Formal Model Based Design approaches…
This paper discusses the problem of assembly line control and introduces an optimal control formulation that can be used to improve the performance of the assembly line, in terms of cycle time minimization, resources' utilization, etc. A…