Related papers: Dynamic Hierarchical Reactive Controller Synthesis
An emerging branch of control theory specialises in certificate learning, concerning the specification of a desired (possibly complex) system behaviour for an autonomous or control model, which is then analytically verified by means of a…
Two-player games on graphs provide the mathematical foundation for the study of reactive systems. In the quantitative framework, an objective assigns a value to every play, and the goal of player 1 is to minimize the value of the objective.…
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…
This paper presents a characterization of distributed controllers subject to delay constraints induced by a strongly connected communication graph that achieve a prescribed closed loop $\mathcal{H}_\infty$ norm. Inspired by the solution to…
We present a method for synthesizing controllers to steer trajectories from an initial set to a target set on a finite time horizon. The proposed control synthesis problem is decomposed into two steps. The first step under-approximates the…
Hypergraphs are powerful mathematical structures that can model complex, high-order relationships in various domains, including social networks, bioinformatics, and recommender systems. However, generating realistic and diverse hypergraphs…
Temporal synthesis is the automated design of a system that interacts with an environment, using the declarative specification of the system's behavior. A popular language for providing such a specification is Linear Temporal Logic, or LTL.…
Recently there has been increasing interest in developing and deploying deep graph learning algorithms for many tasks, such as fraud detection and recommender systems. Albeit, there is a limited number of publicly available graph-structured…
We consider the probabilistic planning problem for a defender (P1) who can jointly query the sensors and take control actions to reach a set of goal states while being aware of possible sensor attacks by an adversary (P2) who has perfect…
Design of optimal distributed linear feedback controllers to achieve a desired aggregate behavior, while simultaneously satisfying state and input constraints, is a challenging but important problem in many applications. System level…
Field robot systems have recently been applied to a wide range of research fields. Making such systems more automated, advanced, and activated requires cooperation among heterogeneous robots. Classic control theory is inefficient in…
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]…
3D scene graphs hierarchically represent the environment appropriately organizing different environmental entities in various layers. Our previous work on situational graphs extends the concept of 3D scene graph to SLAM by tightly coupling…
In recent years, there has been a growing interest in games on graphs within the research community, fueled by their relevance in applications such as economics, politics, and epidemiology. This paper aims to comprehensively detail the…
Reactive synthesis automatically derives a strategy that satisfies a given specification. However, requiring a strategy to meet the specification in every situation is, in many cases, too hard of a requirement. Particularly in compositional…
We present an algorithmic method for the quantitative, performance-aware synthesis of concurrent programs. The input consists of a nondeterministic partial program and of a parametric performance model. The nondeterminism allows the…
In this paper, we investigate novel self-triggered controllers for nonlinear control systems with reachability and safety specifications. To synthesize the self-triggered controller, we leverage the notion of symbolic models, or…
Synthesizing high-quality mathematical reasoning data without human priors remains a significant challenge. Current approaches typically rely on seed data mutation or simple prompt engineering, often suffering from mode collapse and limited…
Distributed linear control design is crucial for large-scale cyber-physical systems. It is generally desirable to both impose information exchange (communication) constraints on the distributed controller, and to limit the propagation of…
This paper studies formal synthesis of controllers for continuous-space systems with unknown dynamics to satisfy requirements expressed as linear temporal logic formulas. Formal abstraction-based synthesis schemes rely on a precise…