Related papers: Safe Control under Uncertainty
We consider the control design of stochastic discrete-time linear multi-agent systems (MASs) under a global signal temporal logic (STL) specification to be satisfied at a predefined probability. By decomposing the dynamics into…
This paper concerns the risk-aware control of stochastic systems with temporal logic specifications dynamically assigned during runtime. Conventional risk-aware control typically assumes that all specifications are predefined and remain…
Several methods have been proposed recently to learn neural network (NN) controllers for autonomous agents, with unknown and stochastic dynamics, tasked with complex missions captured by Linear Temporal Logic (LTL). Due to the…
Prior work on automatic control synthesis for cyber-physical systems under logical constraints has primarily focused on environmental disturbances or modeling uncertainties, however, the impact of deliberate and malicious attacks has been…
In many applications, the integrals and derivatives of signals carry valuable information (e.g., cumulative success over a time window, the rate of change) regarding the behavior of the underlying system. In this paper, we extend the…
There has been substantial progress in the inference of formal behavioural specifications from sample trajectories, for example, using Linear Temporal Logic (LTL). However, these techniques cannot handle specifications that correctly…
In this paper, we consider the problem of synthesizing a controller in the presence of uncertainty such that the resulting closed-loop system satisfies certain hard constraints while optimizing certain (soft) performance objectives. We…
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…
Signal Temporal Logic (STL) provides a powerful framework to describe complex tasks involving temporal and logical behavior in dynamical systems. This work addresses controller synthesis for continuous-time systems subject to STL…
Metric Temporal Logic can express temporally evolving properties with time-critical constraints or time-triggered constraints for real-time systems. This paper extends the Metric Interval Temporal Logic with a distribution eventuality…
We introduce a metric that can quantify the temporal relaxation of Signal Temporal Logic (STL) specifications and facilitate resilient control synthesis in the face of infeasibilities. The proposed metric quantifies a cumulative notion of…
This paper studies the online control synthesis problem for uncertain discrete-time systems subject to signal temporal logic (STL) specifications. Different from existing techniques, this work proposes an approach based on STL, reachability…
In this paper, we present an approach for designing correct-by-design controllers for cyber-physical systems composed of multiple dynamically interconnected uncertain systems. We consider networked discrete-time uncertain nonlinear systems…
We propose novel controller synthesis techniques for probabilistic systems modelled using stochastic two-player games: one player acts as a controller, the second represents its environment, and probability is used to capture uncertainty…
We present a general framework for risk semantics on Signal Temporal Logic (STL) specifications for stochastic dynamical systems using axiomatic risk theory. We show that under our recursive risk semantics, risk constraints on STL formulas…
We propose a new specification language and control synthesis technique for single and multi-robot high-level tasks; these tasks include timing constraints and reaction to environmental events. Specifically, we define Event-based Signal…
Combining efficient and safe control for safety-critical systems is challenging. Robust methods may be overly conservative, whereas probabilistic controllers require a trade-off between efficiency and safety. In this work, we propose a…
We present a robust control framework for time-critical systems in which satisfying real-time constraints robustly is of utmost importance for the safety of the system. Signal Temporal Logic (STL) provides a formal means to express a large…
In this paper, we focus on the problem of compositional synthesis of controllers enforcing signal temporal logic (STL) tasks over a class of continuous-time nonlinear interconnected systems. By leveraging the idea of funnel-based control,…
In this paper, we investigate the probabilistic formal verification of stochastic dynamical systems over continuous state spaces. Motivated by problems in state estimation and information-flow security, we introduce the notion of…