Related papers: Maximally Permissive Controlled System Synthesis f…
We propose a human-supervised control synthesis method for a stochastic Dubins vehicle such that the probability of satisfying a specification given as a formula in a fragment of Probabilistic Computational Tree Logic (PCTL) over a set of…
We introduce a framework for the control of discrete-time switched stochastic systems with uncertain distributions. In particular, we consider stochastic dynamics with additive noise whose distribution lies in an ambiguity set of…
Diversity in the exhibited behavior of a given system is a desirable characteristic in a variety of application contexts. Synthesis of conformant implementations often proceeds by discovering witnessing Skolem functions, which are…
In this paper, we introduce a novel rule for synthesis of reactive systems, applicable to systems made of n components which have each their own objectives. It is based on the notion of admissible strategies. We compare our novel rule with…
Verified controller synthesis uses world models that comprise all potential behaviours of humans, robots, further equipment, and the controller to be synthesised. A world model enables quantitative risk assessment, for example, by…
This paper addresses the problem of control synthesis for nonlinear optimal control problems in the presence of state and input constraints. The presented approach relies upon transforming the given problem into an infinite-dimensional…
Reactive synthesis is a framework for modeling and automatically synthesizing strategies in robotics, typically through computing a \emph{winning} strategy in a 2-player game between the robot and the environment. Winning strategies,…
The dramatic increase of autonomous systems subject to variable environments has given rise to the pressing need to consider risk in both the synthesis and verification of policies for these systems. This paper aims to address a few…
This article surveys the System Level Synthesis framework, which presents a novel perspective on constrained robust and optimal controller synthesis for linear systems. We show how SLS shifts the controller synthesis task from the design of…
We consider the problem of designing distributed controllers to guarantee dissipativity of a networked system comprised of dynamically coupled subsystems. We require that the control synthesis is carried out locally at the subsystem-level,…
Capturing uncertainty in models of complex dynamical systems is crucial to designing safe controllers. Stochastic noise causes aleatoric uncertainty, whereas imprecise knowledge of model parameters leads to epistemic uncertainty. Several…
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…
Optimal control synthesis in stochastic systems with respect to quantitative temporal logic constraints can be formulated as linear programming problems. However, centralized synthesis algorithms do not scale to many practical systems. To…
The controllability problem for nonlinear control systems with one-dimensional control of the form $ dx/dt=a(x)+B(x)\beta(x,u)$ is considered, where $a(x)$ is an $n$-dimensional vector function, $B(x)$ is an $(n\times m)$-matrix, and…
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…
Controlling stochastic systems with unknown dynamics and under complex specifications is specially challenging in safety-critical settings, where performance guarantees are essential. We propose a data-driven policy synthesis framework that…
This paper investigates the synthesis of robust controllers from logical specification of regular properties given in an interval temporal logic QDDC. Our specification encompasses both hard robustness and soft robustness. Here, hard…
This paper considers the problem of decentralized analysis and control synthesis to verify and ensure properties like stability and dissipativity of a large-scale networked system comprised of linear subsystems interconnected in an…
Luo et al. proposed a new method to design the maximally permissive and efficient supervisor for enforcing linear constraints on an ordinary Petri net with uncontrollable transitions. In order to develop this method, Theorem 3 is given. It…
This paper introduces a novel abstraction-based framework for controller synthesis of nonlinear discrete-time stochastic systems. The focus is on probabilistic reach-avoid specifications. The framework is based on abstracting a stochastic…