Related papers: Controller Synthesis for Linear Time-varying Syste…
In this paper we consider the problem of a multi-agent system achieving a formation in the presence of misbehaving or adversarial agents. We introduce a novel continuous time resilient controller to guarantee that normally behaving agents…
In this article, we consider the problem of synthesizing switching controllers for temporal properties through the composition of simple primitive reach-while-stay (RWS) properties. Reach-while-stay properties specify that the system states…
There is an increasing demand for controller design techniques capable of addressing the complex requirements of todays embedded applications. This demand has sparked the interest in symbolic control where lower complexity models of control…
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…
System Level Synthesis (SLS) parametrization facilitates controller synthesis for large, complex, and distributed systems by incorporating system level constraints (SLCs) into a convex SLS problem and mapping its solution to stable…
We present a robust generalization of the synthetic control method for comparative case studies. Like the classical method, we present an algorithm to estimate the unobservable counterfactual of a treatment unit. A distinguishing feature of…
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…
We propose a machine learning framework to synthesize reactive controllers for systems whose interactions with their adversarial environment are modeled by infinite-duration, two-player games over (potentially) infinite graphs. Our…
We present a (semi)-algorithm to compute winning strategies for parametric timed games. Previous algorithms only synthesized constraints on the clock parameters for which the game is winning. A new definition of (winning) strategies is…
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…
This paper presents a novel approach to synthesize dual controllers for unknown linear time-invariant systems with the tasks of optimizing a quadratic cost while reducing the uncertainty. To this end, a synthesis problem is defined where…
Ensuring constraint satisfaction in large-scale systems with hard constraints is vital in many safety critical systems. The challenge is to design controllers that are efficiently synthesized offline, easily implementable online, and…
Recent advances in learning-based perception systems have led to drastic improvements in the performance of robotic systems like autonomous vehicles and surgical robots. These perception systems, however, are hard to analyze and errors in…
We study the problem of controlling multi-agent systems under a set of signal temporal logic tasks. Signal temporal logic is a formalism that is used to express time and space constraints for dynamical systems. Recent methods to solve the…
A challenging problem for autonomous systems is to synthesize a reactive controller that conforms to a set of given correctness properties. Linear temporal logic (LTL) provides a formal language to specify the desired behavioral properties…
In this paper we present an assume-guarantee specification theory (aka interface theory from [14]) for modular synthesis and verification of real-time systems with critical timing constraints. It is a further step of our earlier work [10]…
This paper addresses the synthesis of safety-critical controllers using estimate feedback. We propose an observer-controller interconnection to ensure that the nonlinear system remains safe despite bounded disturbances on the system…
This paper presents an approach for synthesizing provably correct control envelopes for hybrid systems. Control envelopes characterize families of safe controllers and are used to monitor untrusted controllers at runtime. Our algorithm…
We propose algorithms for performing model checking and control synthesis for discrete-time uncertain systems under linear temporal logic (LTL) specifications. We construct temporal logic trees (TLT) from LTL formulae via reachability…
In real-time and safety-critical cyber-physical systems (CPSs), control synthesis must guarantee that generated policies meet stringent timing and correctness requirements under uncertain and dynamic conditions. Signal temporal logic (STL)…