Related papers: Controller Synthesis for Safety and Reachability v…
Optimal controller synthesis is a bilinear problem and hence difficult to solve in a computationally efficient manner. We are able to resolve this bilinearity for systems with delay by first convexifying the problem in infinite-dimensions -…
At the intersection of dynamical systems, control theory, and formal methods lies the construction of symbolic abstractions: these typically represent simpler, finite-state models whose behavior mimics that of an underlying concrete system…
Hamilton-Jacobi (HJ) reachability analysis has been developed over the past decades into a widely-applicable tool for determining goal satisfaction and safety verification in nonlinear systems. While HJ reachability can be formulated very…
We propose a machine learning framework to synthesize reactive controllers for systems whose interactions with their adversarial environment are modeled by infinite-duration, two-player games over (potentially) infinite graphs. Our…
This paper employs correct-by-construction control synthesis, in particular controlled invariant set computations, for falsification. Our hypothesis is that if it is possible to compute a "large enough" controlled invariant set either for…
Objective: In a companion paper, we propose a parametric hybrid automaton model and an algorithm for the online synthesis of robustly correct and near-optimal controllers for cyber-physical system with reach-avoid guarantees. A key part of…
We present a novel class of nonlinear controllers that interpolates among differently behaving linear controllers as a case study for recently proposed Linear and Nonlinear System Level Synthesis framework. The structure of the nonlinear…
The behavior composition problem involves automatically building a controller that is able to realize a desired, but unavailable, target system (e.g., a house surveillance) by suitably coordinating a set of available components (e.g., video…
This paper presents an automatic formal controller synthesis method for nonlinear sampled-data systems with safety and reachability specifications. Fundamentally, the presented method is not restricted to polynomial systems and controllers.…
This paper presents an approach for synthesizing provably correct control envelopes for hybrid systems. Control envelopes characterize families of safe controllers and are used to monitor untrusted controllers at runtime. Our algorithm…
The essential step of abstraction-based control synthesis for nonlinear systems to satisfy a given specification is to obtain a finite-state abstraction of the original systems. The complexity of the abstraction is usually the dominating…
Software implementations of controllers for physical systems are at the core of many embedded systems. The design of controllers uses the theory of dynamical systems to construct a mathematical control law that ensures that the controlled…
In this paper, we introduce the problem of synthesizing optimal controllers for discrete event systems and we propose a procedure for solving this problem, where the method and specifications are represented by finite state automata and…
A symmetry of a dynamical system is a map that transforms one trajectory to another trajectory. We introduce a new type of abstraction for hybrid automata based on symmetries. The abstraction combines different modes in a concrete automaton…
In many multi-agent systems, communication is limited by bandwidth, latency, and energy constraints. Designing controllers that achieve coordination and safety with minimal communication is critical for scalable and reliable deployment.…
In this paper, we develop a compositional scheme for the construction of continuous approximations for interconnections of infinitely many discrete-time switched systems. An approximation (also known as abstraction) is itself a…
We consider the problem of safety verification and safety-aware controller synthesis for systems with sector bounded nonlinearities. We aim to keep the states of the system within a given safe set under potential actuator and sensor…
In this paper, we illustrate a new correct-by-construction switching controller for a power converter with event-triggered measurements. The event-triggered measurement scheme is beneficial for high frequency power converters because it…
With the primary objective of human-robot interaction being to support humans' goals, there exists a need to formally synthesize robot controllers that can provide the desired service. Synthesis techniques have the benefit of providing…
Controlling contacts is truly challenging, and this has been a major hurdle to deploying industrial robots into unstructured/human-centric environments. More specifically, the main challenges are: (i) how to ensure stability at all times;…