Related papers: Towards Efficient Exact Synthesis for Linear Hybri…
In this paper we study the problem of automatically generating switching controllers for the class of Linear Hybrid Automata, with respect to safety objectives. We identify and solve inaccuracies contained in previous characterizations of…
We consider a nonlinear ordinary differential equation and want to control its behavior so that it reaches a target by minimizing a cost function. Our approach is to use hybrid systems to solve this problem: the complex dynamic is replaced…
Sufficiently accurate finite state models, also called symbolic models or discrete abstractions, allow one to apply fully automated methods, originally developed for purely discrete systems, to formally reason about continuous and hybrid…
We propose an algorithmic approach for synthesizing linear hybrid automata from time-series data. Unlike existing approaches, our approach provides a whole family of models. Each model in the family is guaranteed to capture the input data…
We introduce a hybrid (discrete--continuous) safety controller which enforces strict state and input constraints on a system---but only acts when necessary, preserving transparent operation of the original system within some safe region of…
In this paper, we consider a control synthesis problem for a class of polynomial dynamical systems subject to bounded disturbances and with input constraints. More precisely, we aim at synthesizing at the same time a controller and an…
Formal design of embedded and cyber-physical systems relies on mathematical modeling. In this paper, we consider the model class of hybrid automata whose dynamics are defined by affine differential equations. Given a set of time-series…
The development of driving functions for autonomous vehicles in urban environments is still a challenging task. In comparison with driving on motorways, a wide variety of moving road users, such as pedestrians or cyclists, but also the…
Controller synthesis, including reset controller, feedback controller, and switching logic controller, provides an essential mechanism to guarantee the correctness and reliability of hybrid systems in a correct-by-construction manner.…
Stochastic hybrid systems have received significant attentions as a relevant modelling framework describing many systems, from engineering to the life sciences: they enable the study of numerous applications, including transportation…
Modern control-command systems often include controllers that perform nonlinear computations to control a physical system, which can typically be described by an hybrid automaton containing high-dimensional systems of nonlinear differential…
We present an algorithm of control synthesis for nonlinear switched systems, based on an existing procedure of state-space bisection and made available for nonlinear systems with the help of validated simulation. The use of validated…
End-to-end engineering design pipelines, in which designs are evaluated using concurrently defined optimal controllers, are becoming increasingly common in practice. To discover designs that perform well even under the misspecification of…
In this paper, we address the problem of local search for the falsification of hybrid automata with affine dynamics. Namely, if we are given a sequence of locations and a maximum simulation time, we return the trajectory that comes the…
An alternative formulation for the controllability problem of single input linear positive systems is presented. Driven by many industrial applications, this formulations focuses on the case where the region of interest is only a subset of…
In this paper, we propose an approach to controller synthesis for a class of constrained nonlinear systems. It is based on the use of a hybridization, that is a hybrid abstraction of the nonlinear dynamics. This abstraction is defined on a…
We propose an efficient symbolic control synthesis algorithm for equivariant continuous-time dynamical systems to satisfy reach-avoid specifications. The algorithm exploits dynamical symmetries to construct lean abstractions to avoid…
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…
This work targets the development of an efficient abstraction method for formal analysis and control synthesis of discrete-time stochastic hybrid systems (SHS) with linear dynamics. The focus is on temporal logic specifications, both over…
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…