Related papers: A Counter-Example Guided Framework for Robust Synt…
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…
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…
This paper presents a Directed Controller Synthesis (DCS) technique for discrete event systems. The DCS method explores the solution space for reactive controllers guided by a domain-independent heuristic. The heuristic is derived from an…
We have witnessed the emergence of several controller parameterizations and the corresponding synthesis methods, including Youla, system level, input-output, and many other new proposals. Meanwhile, under the same synthesis method, there…
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…
In this work, we investigate the data-driven safe control synthesis problem for unknown dynamic systems. We first formulate the safety synthesis problem as a robust convex program (RCP) based on notion of control barrier function. To…
In modern robotics, addressing the lack of accurate state space information in real-world scenarios has led to a significant focus on utilizing visuomotor observation to provide safety assurances. Although supervised learning methods, such…
This paper presents Fossil 2.0, a new major release of a software tool for the synthesis of certificates (e.g., Lyapunov and barrier functions) for dynamical systems modelled as ordinary differential and difference equations. Fossil 2.0 is…
A barrier certificate often serves as an inductive invariant that isolates an unsafe region from the reachable set of states, and hence is widely used in proving safety of hybrid systems possibly over the infinite time horizon. We present a…
In classic program synthesis algorithms, such as counterexample-guided inductive synthesis (CEGIS), the algorithms alternate between a synthesis phase and an oracle (verification) phase. Many synthesis algorithms use a white-box oracle…
We consider the problem of designing finite-horizon safe controllers for a dynamical system for which no explicit analytical model exists and limited data only along a single trajectory of the system are available. Given samples of the…
We give an overview of recent techniques for implementing syntax-guided synthesis (SyGuS) algorithms in the core of Satisfiability Modulo Theories (SMT) solvers. We define several classes of synthesis conjectures and corresponding…
Model mismatches prevail in real-world applications. Ensuring safety for systems with uncertain dynamic models is critical. However, existing robust safe controllers may not be realizable when control limits exist. And existing methods use…
Executing a Golog program on an actual robot typically requires additional steps to account for hardware or software details of the robot platform, which can be formulated as constraints on the program. Such constraints are often temporal,…
Program synthesis is the task of automatically constructing a program conforming to a given specification. In this paper we focus on synthesis of single-invocation recursion-free functions conforming to a specification given as a logical…
Regular expressions are pervasive in modern systems. Many real-world regular expressions are inefficient, sometimes to the extent that they are vulnerable to complexity-based attacks, and while much research has focused on detecting…
Supervisory control theory provides means to synthesize supervisors for systems with discrete-event behavior from models of the uncontrolled plant and of the control requirements. The applicability of supervisory control theory often fails…
We consider the problem of synthesizing a dynamic output-feedback controller for a linear system, using solely input-output data corrupted by measurement noise. To handle input-output data, an auxiliary representation of the original system…
Program synthesis is the task of automatically generating expressions that satisfy a given specification. Program synthesis techniques have been used to automate the generation of loop invariants in code, synthesize function summaries, and…
Automating string transformations has been one of the killer applications of program synthesis. Existing synthesizers that solve this problem produce programs in domain-specific languages (DSL) that are engineered to help the synthesizer,…