Related papers: Controller Synthesis for Linear Time-varying Syste…
Symbolic approaches to the control design over complex systems employ the construction of finite-state models that are related to the original control systems, then use techniques from finite-state synthesis to compute controllers…
In the formal approach to reactive controller synthesis, a symbolic controller for a possibly hybrid system is obtained by algorithmically computing a winning strategy in a two-player game. Such game-solving algorithms scale poorly as the…
The control synthesis of a dynamic system subject to a signal temporal logic (STL) specification is commonly formulated as a mixed-integer linear/convex programming (MILP/MICP) problem. Solving such a problem is computationally expensive…
As more attention is paid to security in the context of control systems and as attacks occur to real control systems throughout the world, it has become clear that some of the most nefarious attacks are those that evade detection. The term…
Reactive synthesis is a paradigm for automatically building correct-by-construction systems that interact with an unknown or adversarial environment. We study how to do reactive synthesis when part of the specification of the system is that…
We consider the synthesis of control policies from temporal logic specifications for robots that interact with multiple dynamic environment agents. Each environment agent is modeled by a Markov chain whereas the robot is modeled by a finite…
We study the problem of \textit{safe control of linear dynamical systems corrupted with non-stochastic noise}, and provide an algorithm that guarantees (i) zero constraint violation of convex time-varying constraints, and (ii) bounded…
Cyber-physical systems can be subject to sensor attacks, e.g., sensor spoofing, leading to unsafe behaviors. This paper addresses this problem in the context of linear systems when an omniscient attacker can spoof several system sensors at…
A shield is attached to a system to guarantee safety by correcting the system's behavior at runtime. Existing methods that employ design-time synthesis of shields do not scale to multi-agent systems. Moreover, such shields are typically…
We study the problem of synthesizing a controller for a robot with a surveillance objective, that is, the robot is required to maintain knowledge of the location of a moving, possibly adversarial target. We formulate this problem as a…
This paper studies the satisfaction of a class of temporal properties for cyber-physical systems (CPSs) over a finite-time horizon in the presence of an adversary, in an environment described by discrete-time dynamics. The temporal logic…
Individual machines in flexible production lines explicitly expose capabilities at their interfaces by means of parametric skills. Given such a set of configurable machines, a line integrator is faced with the problem of finding and tuning…
This paper develops a controller synthesis approach for a multi-agent system (MAS) with intermittent communication. We adopt a leader-follower scheme, where a mobile leader with absolute position sensors switches among a set of followers…
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…
Temporal synthesis attempts to construct reactive programs that satisfy a given declarative (LTL) formula. Practitioners have found it challenging to work exclusively with declarative specifications, and have found languages that combine…
Motivated by the recent interest in risk-aware control, we study a continuous-time control synthesis problem to bound the risk that a stochastic linear system violates a given specification. We use risk signal temporal logic as a…
This work introduces a controller synthesis method via system level synthesis for nonlinear systems characterized by polynomial dynamics. The resulting framework yields finite impulse response, time-invariant, closed-loop transfer functions…
In this article, the problem of synthesizing switching controllers is considered through the synthesis of a "control certificate". Control certificates include control barrier and Lyapunov functions, which represent control strategies, and…
Cyber-physical systems are often safety-critical in that violations of safety properties may lead to catastrophes. We propose a method to enforce the safety of systems with real-valued signals by synthesizing a runtime enforcer called the…
Perception-related tasks often arise in autonomous systems operating under partial observability. This work studies the problem of synthesizing optimal policies for complex perception-related objectives in environments modeled by partially…