Related papers: Controller Synthesis for Safety and Reachability v…
In this paper, we propose a system-level approach for verifying the safety of neural network controlled systems, combining a continuous-time physical system with a discrete-time neural network based controller. We assume a generic model for…
Symbolic approaches to the control design over complex systems employ the construction of finite-state models that are related to the original control systems, then use techniques from finite-state synthesis to compute controllers…
We consider abstraction-based design of output-feedback controllers for dynamical systems with a finite set of inputs and outputs against specifications in linear-time temporal logic. The usual procedure for abstraction-based controller…
Approximate simulation, an extension of simulation relations from formal methods to continuous systems, is a powerful tool for hierarchical control of complex systems. Finding an approximate simulation relation between the full "concrete"…
Discrete abstractions have become a standard approach to assist control synthesis under complex specifications. Most techniques for the construction of a discrete abstraction for a continuous-time system require time-space discretization of…
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…
We have witnessed the emergence of several controller parameterizations and the corresponding synthesis methods, including Youla, system level, input-output, and many other new proposals. Meanwhile, under the same synthesis method, there…
We consider abstraction-based design of output-feedback controllers for non-linear dynamical systems against specifications over state-based predicates in linear-time temporal logic (LTL). In this context, our contribution is two-fold: (I)…
We consider the problem of approximating discrete-time plants with finite-valued sensors and actu- ators by deterministic finite memory systems for the purpose of certified-by-design controller synthesis. Building on ideas from robust…
In this paper we investigate the optimal controller synthesis problem, so that the system under the controller can reach a specified target set while satisfying given constraints. Existing model predictive control (MPC) methods learn from a…
We consider the problem of synthesizing safe-by-design control strategies for semi-autonomous systems. Our aim is to address situations when safety cannot be guaranteed solely by the autonomous, controllable part of the system and a certain…
Objective: To obtain explainable guarantees in the online synthesis of optimal controllers for high-integrity cyber-physical systems, we re-investigate the use of exhaustive search as an alternative to reinforcement learning. Approach: We…
This paper proposes a finitely terminating algorithm to solve reach-and-stay control problems for nonlinear systems. The algorithm is guaranteed to return a control strategy if the specification is robustly realizable. Such a feature is…
Abstraction-based control design is a promising approach for ensuring safety-critical control of complex cyber-physical systems. A key aspect of this methodology is the relation between the original and abstract systems, which ensures that…
Recent advances in learning-based perception systems have led to drastic improvements in the performance of robotic systems like autonomous vehicles and surgical robots. These perception systems, however, are hard to analyze and errors in…
We consider the feedback design for stabilizing a rigid body system by making and breaking multiple contacts with the environment without prespecifying the timing or the number of occurrence of the contacts. We model such a system as a…
In this paper we consider the safety verification and safe controller synthesis problems for nonlinear control systems. The Control Barrier Certificates (CBC) approach is proposed as an extension to the Barrier certificates approach. Our…
Discrete abstractions have become a standard approach to assist control synthesis under complex specifications. Most techniques for the construction of discrete abstractions are based on sampling of both the state and time spaces, which may…
We have witnessed the emergence of several controller parameterizations and the corresponding synthesis methods, including Youla, system level, input-output, and many other new proposals. Meanwhile, under the same synthesis method, there…
In this article, the problem of synthesizing switching controllers is considered through the synthesis of a "control certificate". Control certificates include control barrier and Lyapunov functions, which represent control strategies, and…