Related papers: Dynamic Hierarchical Reactive Controller Synthesis
Controller synthesis, including reset controller, feedback controller, and switching logic controller, provides an essential mechanism to guarantee the correctness and reliability of hybrid systems in a correct-by-construction manner.…
Controller synthesis is a formal method approach for automatically generating Labeled Transition System (LTS) controllers that satisfy specified properties. The efficiency of the synthesis process, however, is critically dependent on…
When designing correct-by-construction controllers for autonomous collectives, three key challenges are the task specification, the modelling, and its use at practical scale. In this paper, we focus on a simple yet useful abstraction for…
In recent years, formal methods have been extensively used in the design of autonomous systems. By employing mathematically rigorous techniques, formal methods can provide fully automated reasoning processes with provable safety guarantees…
In complex manipulation scenarios (e.g. tasks requiring complex interaction of two hands or in-hand manipulation), generalization is a hard problem. Current methods still either require a substantial amount of (supervised) training data and…
Graph games played by two players over finite-state graphs are central in many problems in computer science. In particular, graph games with $\omega$-regular winning conditions, specified as parity objectives, which can express properties…
Reactive synthesis is an automated procedure to obtain a correct-by-construction reactive system from a given specification. GR(1) is a well-known fragment of linear temporal logic (LTL) where synthesis is possible using a polynomial…
This paper presents a new technique for the design of approximate reasoning based controllers for dynamic physical systems with interacting goals. In this approach, goals are achieved based on a hierarchy defined by a control knowledge base…
Recent progress on physics-based character animation has shown impressive breakthroughs on human motion synthesis, through imitating motion capture data via deep reinforcement learning. However, results have mostly been demonstrated on…
In this paper, we introduce a high-level controller synthesis framework that enables teams of heterogeneous agents to assist each other in resolving environmental conflicts that appear at runtime. This conflict resolution method is built…
Formal control synthesis approaches over stochastic systems have received significant attention in the past few years, in view of their ability to provide provably correct controllers for complex logical specifications in an automated…
Modern control systems are featured by their hierarchical structure composing of cyber, physical, and human layers. The intricate dependencies among multiple layers and units of modern control systems require an integrated framework to…
We investigate the problem of autonomous racing among teams of cooperative agents that are subject to realistic racing rules. Our work extends previous research on hierarchical control in head-to-head autonomous racing by considering a…
This paper presents an extension of a recently proposed hierarchical control framework applied to a cryogenic system. While in the previous work, each sub-system in the decomposition needed to show at least one component of the control…
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…
Infinite-state games are a commonly used model for the synthesis of reactive systems with unbounded data domains. Symbolic methods for solving such games need to be able to construct intricate arguments to establish the existence of winning…
We propose the problem of multi-agent path planning for a generalization of the classic Cops and Robbers game via reactive synthesis. Specifically, through the application of LTLt and Coordination Synthesis, we aim to check whether various…
We present an approach for synthesizing reactive robot motion plans, based on compilation to Syntax-Guided Synthesis (SyGuS) specifications. Our method reduces the motion planning problem to the problem of synthesizing a function that can…
Generalized Reactivity(1) (GR(1)) synthesis is a reactive synthesis approach in which the specification is split into two parts: a symbolic game graph, describing the safe transitions of a system, a liveness specification in a subset of…
In many security applications of cyber-physical systems, a system designer must guarantee that critical missions are satisfied against attacks in the sensors and actuators of the CPS. Traditional security design of CPSs often assume that…