Related papers: Separable and Localized System Level Synthesis for…
The task of implementing a supervisory controller is non-trivial, even though different theories exist that allow automatic synthesis of these controllers in the form of automata. One of the reasons for this discord is due to the…
In the formal approach to reactive controller synthesis, a symbolic controller for a possibly hybrid system is obtained by algorithmically computing a winning strategy in a two-player game. Such game-solving algorithms scale poorly as the…
Hardware synthesis is a general term used to refer to the processes involved in automatically generating a hardware design from its specification. High-level synthesis (HLS) could be defined as the translation from a behavioral description…
We present a solution to deal with information package dropouts in distributed controllers for large-scale networks. We do this by leveraging the System Level Synthesis approach, a control framework particularly suitable for large-scale…
Feedback control algorithms traditionally rely on periodic execution on digital platforms. While this simplifies design and analysis, it often leads to inefficient resource usage (e.g., CPU, network bandwidth) in embedded control and shared…
Switching controllers play a pivotal role in directing hybrid systems (HSs) towards the desired objective, embodying a ``correct-by-construction'' approach to HS design. Identifying these objectives is thus crucial for the synthesis of…
The use of separable approximations is proposed to mitigate the curse of dimensionality related to the approximation of high-dimensional value functions in optimal control. The separable approximation exploits intrinsic decaying sensitivity…
The requirements for real-world manipulation tasks are diverse and often conflicting; some tasks require precise motion while others require force compliance; some tasks require avoidance of certain regions, while others require convergence…
The sensor network localization (SNL) problem is to reconstruct the positions of all the sensors in a network with the given distance between pairs of sensors and within the radio range between them. It is proved that the computational…
Optimal controller synthesis is a bilinear problem and hence difficult to solve in a computationally efficient manner. We are able to resolve this bilinearity for systems with delay by first convexifying the problem in infinite-dimensions -…
Backward reachability (also termed controllability) has been extensively studied in control theory, and tools for a wide class of systems have been developed. Nevertheless, assessing a backward reachability analysis or synthesis remains…
We present a robust Distributed and Localized Model Predictive Control (rDLMPC) framework for large-scale structured linear systems. The proposed algorithm uses the System Level Synthesis to provide a distributed closed-loop model…
LCLs or locally checkable labelling problems (e.g. maximal independent set, maximal matching, and vertex colouring) in the LOCAL model of computation are very well-understood in cycles (toroidal 1-dimensional grids): every problem has a…
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…
The optimal controller design problem for a linear, first-order spatially-invariant distributed parameter system is considered. Through a case study of the Linear Quadratic Regulator (LQR) problem for the diffusion equation over the torus,…
Robustness is a crucial factor for the successful deployment of robots in unstructured environments, particularly in the domain of Simultaneous Localization and Mapping (SLAM). Simulation-based benchmarks have emerged as a highly scalable…
The paper aims at the development of tools for analysis and construction of near optimal solutions of singularly perturbed (SP) optimal controls problems with long run average optimality criteria. The idea that we exploit is to first…
We consider the optimal distributed controller design problem subject to two structural requirements: locality, i.e. available measurements and sub-controllers' interactions are governed by a graph structure, and relative feedback, i.e.…
Reactive synthesis is a technology for the automatic construction of reactive systems from logical specifications. In these lecture notes, we study different algorithms for the reactive synthesis problem of linear-time temporal logic (LTL).…
Robust controller synthesis attracts reviving research interest, driven by the rise of learning-based systems where uncertainty and perturbation are ubiquitous. Facing an uncertain situation, a robustly stabilizing controller should…