Related papers: Time-Constrained Temporal Logic Control of Multi-A…
This paper deals with time-optimal control of nonlinear continuous-time systems based on direct collocation. The underlying discretization grid is variable in time, as the time intervals are subject to optimization. This technique differs…
This paper presents a control strategy based on a new notion of time-varying fixed-time convergent control barrier functions (TFCBFs) for a class of coupled multi-agent systems under signal temporal logic (STL) tasks. In this framework,…
This paper investigates the problem of impact-time-control and proposes a learning-based computational guidance algorithm to solve this problem. The proposed guidance algorithm is developed based on a general prediction-correction concept:…
In this paper the problem of cooperative task planning of multi-agent systems when timed constraints are imposed to the system is investigated. We consider timed constraints given by Metric Interval Temporal Logic (MITL). We propose a…
This paper presents control strategies based on time-varying convergent higher order control barrier functions for a class of leader-follower multi-agent systems under signal temporal logic (STL) tasks. Each agent is assigned a local STL…
Motivated by the recent interest in cyber-physical and autonomous robotic systems, we study the problem of dynamically coupled multi-agent systems under a set of signal temporal logic tasks. In particular, the satisfaction of each of these…
Many chemical processes exhibit diverse timescale dynamics with a strong coupling between timescale sensitive variables. Model predictive control with a non-uniformly spaced optimisation horizon is an effective approach to multi-timescale…
In this paper, we solve the problem of simultaneously driving in minimum time to arbitrary final conditions, N two level quantum systems subject to independent controls. The solution of this problem is obtained via an explicit description…
We consider synthesis of control policies that maximize the probability of satisfying given temporal logic specifications in unknown, stochastic environments. We model the interaction between the system and its environment as a Markov…
We consider temporal logic verification of (possibly nonlinear) dynamical systems evolving over continuous state spaces. Our approach combines automata-based verification and the use of so-called barrier certificates. Automata-based…
Time-optimal control of a multi-rotor remains an open problem due to the under-actuation and nonlinearity of its dynamics, which make it difficult to solve this problem directly. In this paper, the time-optimal control problem of the…
Automatic synthesis from temporal logic specifications is an attractive alternative to manual system design, due to its ability to generate correct-by-construction implementations from high-level specifications. Due to the high complexity…
In this paper, we consider the robot motion (or task) planning problem under some given time bounded high level specifications. We use metric interval temporal logic (MITL), a member of the temporal logic family, to represent the task…
This paper presents a novel two-level control architecture for a fully autonomous vehicle in a deterministic environment, which can handle traffic rules as specifications and low-level vehicle control with real-time performance. At the top…
In this article, we discuss two algorithms tailored to discrete-time deterministic finite-horizon nonlinear optimal control problems or so-called deterministic trajectory optimization problems. Both algorithms can be derived from an…
The quantum speed limit sets the minimum time required to transfer a quantum system completely into a given target state. At shorter times the higher operation speed has to be paid with a loss of fidelity. Here we quantify the trade-off…
This paper investigates the control barrier function (CBF) based safety-critical control for continuous nonlinear control affine systems using the more efficient online algorithms through time-varying optimization. The idea lies in that…
Many robotic systems are underactuated, meaning not all degrees of freedom can be directly controlled due to lack of actuators, input constraints, or state-dependent actuation. This property, compounded by modeling uncertainties and…
This paper investigates the problem of regulating in real time a linear dynamical system to the solution trajectory of a time-varying constrained convex optimization problem. The proposed feedback controller is based on an adaptation of the…
Verification of temporal logic properties plays a crucial role in proving the desired behaviors of hybrid systems. In this paper, we propose an interval method for verifying the properties described by a bounded linear temporal logic. We…