Related papers: Controller Synthesis for Safety and Reachability v…

Control synthesis under constraints is at the forefront of research on autonomous systems, in part due to its broad application from low-level control to high-level planning, where computing control inputs is typically cast as a constrained…

In human-robot collaboration (HRC), software-based automatic safety controllers (ASCs) are used in various forms (e.g. shutdown mechanisms, emergency brakes, interlocks) to improve operational safety. Complex robotic tasks and increasingly…

This paper proposes a method to compute finite abstractions that can be used for synthesizing robust hybrid control strategies for nonlinear systems. Most existing methods for computing finite abstractions utilize some global, analytical…

Safety is critical in robotic tasks. Energy function based methods have been introduced to address the problem. To ensure safety in the presence of control limits, we need to design an energy function that results in persistently feasible…

In this paper, we present the synthesis of secure-by-construction controllers that address safety and security properties simultaneously in cyber-physical systems. Our focus is on studying a specific security property called opacity, which…

In this paper, we present an approach for designing correct-by-design controllers for cyber-physical systems composed of multiple dynamically interconnected uncertain systems. We consider networked discrete-time uncertain nonlinear systems…

Design of optimal distributed linear feedback controllers to achieve a desired aggregate behavior, while simultaneously satisfying state and input constraints, is a challenging but important problem in many applications. System level…

This paper considers the optimal control for hybrid systems whose trajectories transition between distinct subsystems when state-dependent constraints are satisfied. Though this class of systems is useful while modeling a variety of…

Action anticipation, intent prediction, and proactive behavior are all desirable characteristics for autonomous driving policies in interactive scenarios. Paramount, however, is ensuring safety on the road -- a key challenge in doing so is…

The present work deals with quantitative two-phase reach-avoid problems on nonlinear control systems. This class of optimal control problem requires the plant's state to visit two (rather than one) target sets in succession while minimizing…

In this paper, we describe a synthesis algorithm for safety specifications described as circuits. Our algorithm is based on fixpoint computations, abstraction and refinement, it uses binary decision diagrams as symbolic data structure. We…

In this paper, we provide a direct data-driven approach to synthesize safety controllers for unknown linear systems affected by unknown-but-bounded disturbances, in which identifying the unknown model is not required. First, we propose a…

This paper presents an abstraction-refinement method to synthesize control inputs for a discrete-time piecewise linear system. The controlled system behavior satisfies a finite-word linear-time temporal objective while incurring minimal…

The paper presents a novel approach to synthesize robust controllers for nonlinear systems along perturbed trajectories. The approach linearizes the system with respect to a reference trajectory. In contrast to existing methods rooted in…

Designing controllers to satisfy temporal requirements has proven to be challenging for dynamical systems that are affected by uncertainty. This is mainly due to the states evolving in a continuous uncountable space, the stochastic…

We present a new method for the automated synthesis of digital controllers with formal safety guarantees for systems with nonlinear dynamics, noisy output measurements, and stochastic disturbances. Our method derives digital controllers…

This paper studies the controller synthesis problem for Linear Temporal Logic (LTL) specifications using (constrained) zonotope techniques. First, we implement (constrained) zonotope techniques to partition the state space and further to…

The paper addresses the problem of controller synthesis for control-affine nonlinear systems to meet reach-avoid-stay specifications. Specifically, the goal of the research is to obtain a closed-form control law ensuring that the…

This paper proposes a framework for automatic formal controller synthesis for general hybrid systems with a subset of safety and reachability specifications. The framework uses genetic programming to automatically co-synthesize controllers…

The goal of logical controller synthesis is to automatically compute a control strategy that regulates the discrete, event-driven behavior of a given plant s.t. a temporal logic specification holds over all remaining traces. Standard…