Related papers: Dynamic Hierarchical Reactive Controller Synthesis
We compare games under delayed control and delay games, two types of infinite games modelling asynchronicity in reactive synthesis. In games under delayed control both players suffer from partial informedness due to symmetrically delayed…
We study synthesis of controllers for real-time systems, where the objective is to stay in a given safe set. The problem is solved by obtaining winning strategies in concurrent two-player \emph{timed automaton games} with safety objectives.…
Contact-based decision and planning methods are becoming increasingly important to endow higher levels of autonomy for legged robots. Formal synthesis methods derived from symbolic systems have great potential for reasoning about high-level…
Temporal synthesis attempts to construct reactive programs that satisfy a given declarative (LTL) formula. Practitioners have found it challenging to work exclusively with declarative specifications, and have found languages that combine…
In this paper, we investigate formal test-case generation for high-level mission objectives, specifically reachability, of autonomous systems. We use Kripke structures to represent the high-level decision-making of the agent under test and…
The study of network representations of physical, biological, and social phenomena can help us better understand the structural and functional dynamics of their networks and formulate predictive models of these phenomena. However, due to…
Symbolic approaches to the control design over complex systems employ the construction of finite-state models that are related to the original control systems, then use techniques from finite-state synthesis to compute controllers…
Deep reinforcement learning provides a promising approach for text-based games in studying natural language communication between humans and artificial agents. However, the generalization still remains a big challenge as the agents depend…
Petri games are a multiplayer game model for the automatic synthesis of distributed systems. We compare two fundamentally different approaches for solving Petri games. The symbolic approach decides the existence of a winning strategy via a…
We investigate the problem of controller synthesis for hyperproperties specified in the temporal logic HyperLTL. Hyperproperties are system properties that relate multiple execution traces. Hyperproperties can elegantly express…
We propose a parameterization of a nonlinear dynamic controller based on the recurrent equilibrium network, a generalization of the recurrent neural network. We derive constraints on the parameterization under which the controller…
We design a new efficient strategy synthesis method applicable to adversarial patrolling problems on graphs with arbitrary-length edges and possibly imperfect intrusion detection. The core ingredient is an efficient algorithm for computing…
We introduce the dynamic grasp synthesis task: given an object with a known 6D pose and a grasp reference, our goal is to generate motions that move the object to a target 6D pose. This is challenging, because it requires reasoning about…
In recent years hypergraphs have emerged as a powerful tool to study systems with multi-body interactions which cannot be trivially reduced to pairs. While highly structured methods to generate synthetic data have proved fundamental for the…
We address the synthesis of control policies for unknown discrete-time stochastic dynamical systems to satisfy temporal logic objectives. We present a data-driven, abstraction-based control framework that integrates online learning with…
In this thesis, the synthesis of correct-by-construction controllers for robots assisting in Search and Rescue (SAR) is considered. In recent years, the development of robots assisting in disaster mitigation in urban environments has been…
A modern approach to engineering correct-by-construction systems is to synthesize them automatically from formal specifications. Oftentimes, a system can only satisfy its guarantees if certain environment assumptions hold, which motivates…
In formal synthesis of reactive systems an implementation of a system is automatically constructed from its formal specification. The great advantage of synthesis is that the resulting implementation is correct by construction; therefore…
We present a two-step hybrid reinforcement learning (RL) policy that is designed to generate interpretable and robust hierarchical policies on the RL problem with graph-based input. Unlike prior deep reinforcement learning policies…
Robots are used increasingly often in safety-critical scenarios, such as robotic surgery or human-robot interaction. To ensure stringent performance criteria, formal controller synthesis is a promising direction to guarantee that robots…