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We consider the Chance Constrained Model Predictive Control problem for polynomial systems subject to disturbances. In this problem, we aim at finding optimal control input for given disturbed dynamical system to minimize a given cost…
We propose two new optimistic planning algorithms for nonlinear hybrid-input systems, in which the input has both a continuous and a discrete component, and the discrete component must respect a dwell-time constraint. Both algorithms select…
We propose a method of classifying the operation of a system into finitely many modes. Each mode has its own objectives for the system's behaviour and its own mathematical models and algorithms designed to accomplish its objectives. A…
This paper is a survey of extensions to finite automata theory to model real-time systems as well as systems exhibiting mixed discrete-continuous behavior. Real-time systems maintain a continuous and timely interaction with the environment,…
Many complex systems satisfy a set of constraints on their degrees of freedom, and at the same time, they are able to work and adapt to different conditions. Here, we describe the emergence of this ability in a simplified model in which the…
In connection with machine arithmetic, we are interested in systems of constraints of the form x + k \leq y + k'. Over integers, the satisfiability problem for such systems is polynomial time. The problem becomes NP complete if we restrict…
To verify the correct operation of systems, engineers need to determine the set of configurations of a dynamical model that are able to safely reach a specified configuration under a control law. Unfortunately, constructing models for…
In this paper we study the robust invariant sets generation problem for discrete-time switched polynomial systems subject to disturbance inputs within the optimal control framework. A robust invariant set of interest is a set of states such…
Accurate prediction of future agent trajectories is a critical challenge for ensuring safe and efficient autonomous navigation, particularly in complex urban environments characterized by multiple plausible future scenarios. In this paper,…
Nonholonomic wheeled mobile robots are often required to implement algorithms designed for holonomic kinematic systems. This creates a velocity tracking problem for the actual wheeled mobile robot. In this paper, we investigate the issue of…
In this study, we consider a class of linear matroid interdiction problems, where the feasible sets for the upper-level decision-maker (referred to as a leader) and the lower-level decision-maker (referred to as a follower) are induced by…
When deploying autonomous systems in unknown and changing environments, it is critical that their motion planning and control algorithms are computationally efficient and can be reapplied online in real time, whilst providing theoretical…
Motivated by the success of bounded model checking framework for finite state machines, Ouaknine and Worrell proposed a time-bounded theory of real-time verification by claiming that restriction to bounded-time recovers decidability for…
We consider the problem of proving that each point in a given set of states ("target set") can indeed be reached by a given nondeterministic continuous-time dynamical system from some initial state. We consider this problem for abstract…
In this paper we present a hierarchical multi-rate control architecture for nonlinear autonomous systems operating in partially observable environments. Control objectives are expressed using syntactically co-safe Linear Temporal Logic…
This paper studies the existence of solutions and, in particular, the well-posedness of a class of boundary control systems. Our main result provides explicit and verifiable conditions on the system data that guarantee continuous dependence…
In many robotics applications, multiple robots are working in a shared workspace to complete a set of tasks as fast as possible. Such settings can be treated as multi-modal multi-robot multi-goal path planning problems, where each robot has…
This paper derives two stabilizability theorems for a basic class of discrete-time nonlinear systems with multiple unknown parameters. First, we claim that a discrete-time multi-parameter system is stabilizable if its nonlinear growth rate…
In this paper we consider the problem of mixed-criticality (MC) scheduling of implicit-deadline sporadic task systems on a homogenous multiprocessor platform. Focusing on dual-criticality systems, algorithms based on the fluid scheduling…
Reconfigurable broadcast networks provide a convenient formalism for modelling and reasoning about networks of mobile agents broadcasting messages to other agents following some (evolving) communication topology. The parameterized…