Related papers: Minimal Reachability Problems
Despite the intractability of generic optimal partially observable Markov decision process planning, there exist important problems that have highly structured models. Previous researchers have used this insight to construct more efficient…
This paper proposes an algorithm capable of driving a system to follow a piecewise linear trajectory without prior knowledge of the system dynamics. Motivated by a critical failure scenario in which a system can experience an abrupt change…
Efficiently handling time-triggered and possibly nondeterministic switches for hybrid systems reachability is a challenging task. In this paper we present an approach based on conservative set-based enclosure of the dynamics that can handle…
This brief note presents known results about the minimum-time control of a double integrator system from an arbitrary initial state to the state-space origin (minimum-time regulation problem, or special problem). The main purpose of this…
This paper addresses problems on the structural design of control systems taking explicitly into consideration the possible application to large-scale systems. We provide an efficient and unified framework to solve the following major…
We present a scalable and effective multi-agent safe motion planner that enables a group of agents to move to their desired locations while avoiding collisions with obstacles and other agents, with the presence of rich obstacles,…
Time-Basic Petri nets, is a powerful formalism for model- ing real-time systems where time constraints are expressed through time functions of marking's time description associated with transition, representing possible firing times. We…
One of the most fundamental problems in Markov decision processes is analysis and control synthesis for safety and reachability specifications. We consider the stochastic reach-avoid problem, in which the objective is to synthesize a…
Almost sure reachability refers to the property of a stochastic system whereby, from any initial condition, the system state reaches a given target set with probability one. In this paper, we study the problem of certifying almost sure…
In the field of soft robotics, flexibility, adaptability, and functionality define a new era of robotic systems that can safely deform, reach, and grasp. To optimize the design of soft robotic systems, it is critical to understand their…
This paper deals with the problem of point-to-point reachability in multi-linear systems. These systems consist of a partition of the Euclidean space into a finite number of regions and a constant derivative assigned to each region in the…
Composite systems are large complex systems con- sisting of interconnected agents (subsystems). Agents in a com- posite system interact with each other towards performing an in- tended goal. Controllability is essential to achieve desired…
In this work, we consider the controllability of a discrete-time linear dynamical system with sparse control inputs. Sparsity constraints on the input arises naturally in networked systems, where activating each input variable adds to the…
This paper investigates one-step backward reachability for uncertain max-plus linear systems with additive disturbances. Given a target set, the problem is to compute the set of states from which there exists an admissible control input…
This paper over-approximates the reachable sets of a continuous-time uncertain system using the sensitivity of its trajectories with respect to initial conditions and uncertain parameters. We first prove the equivalence between an existing…
Backward reachability analysis is essential to synthesizing controllers that ensure the correctness of closed-loop systems. This paper is concerned with developing scalable algorithms that under-approximate the backward reachable sets, for…
The reachability problem is a central decision problem for formal verification based on vector addition systems with states (VASS), which are equivalent to Petri nets and form one of the most studied and applied models of concurrency.…
In an instance of the minimum eigenvalue problem, we are given a collection of $n$ vectors $v_1,\ldots, v_n \subset {\mathbb{R}^d}$, and the goal is to pick a subset $B\subseteq [n]$ of given vectors to maximize the minimum eigenvalue of…
In this paper we consider the problem of finding a vector that can be written as a nonnegative integer linear combination of given 0-1 vectors, the generators, such that the l_1-distance between this vector and a given target vector is…
Consider a MIMO interference channel whereby each transmitter and receiver are equipped with multiple antennas. The basic problem is to design optimal linear transceivers (or beamformers) that can maximize system throughput. The recent work…