Related papers: Control Synthesis for Multi-Agent Systems under Me…
We consider the problem of generating randomized control sequences for complex networked systems typically actuated by human agents. Our approach leverages a concept known as control improvisation, which is based on a combination of…
This paper addresses the problem of cooperative manipulation of a single object by N robotic agents under local goal specifications given as Metric Interval Temporal Logic (MITL) formulas. In particular, we propose a distributed model-free…
In this work, we focus on decomposing large multi-agent path planning problems with global temporal logic goals (common to all agents) into smaller sub-problems that can be solved and executed independently. Crucially, the sub-problems'…
Temporal logic based synthesis approaches are often used to find trajectories that are correct-by-construction for tasks in systems with complex behavior. Some examples of such tasks include synchronization for multi-agent hybrid systems,…
There is an increasing demand for controller design techniques capable of addressing the complex requirements of todays embedded applications. This demand has sparked the interest in symbolic control where lower complexity models of control…
Grid supportive (GS) modes integrated within distributed energy resources (DERs) can improve the frequency response. However, synthesis of GS modes for guaranteed performance is challenging. Moreover, a tool is needed to handle…
There are spatio-temporal rules that dictate how robots should operate in complex environments, e.g., road rules govern how (self-driving) vehicles should behave on the road. However, seamlessly incorporating such rules into a robot control…
Individual machines in flexible production lines explicitly expose capabilities at their interfaces by means of parametric skills. Given such a set of configurable machines, a line integrator is faced with the problem of finding and tuning…
We present a compositional control synthesis method based on assume-guarantee contracts with application to correct-by-construction design of vehicular mission plans. In our approach, a mission-level specification expressed in a fragment of…
Controller synthesis techniques for continuous systems with respect to temporal logic specifications typically use a finite-state symbolic abstraction of the system model. Constructing this abstraction for the entire system is…
In this work, we present a compositional safety controller synthesis approach for the class of discrete-time linear control systems. Here, we leverage a state-of-the-art result on the computation of robust controlled invariant sets. To…
The goal of this paper is to obtain online abstractions for coupled multi-agent systems in a decentralized manner. A discrete model which captures the motion capabilities of each agent is derived over a bounded time-horizon, by discretizing…
This work introduces a controller synthesis method via system level synthesis for nonlinear systems characterized by polynomial dynamics. The resulting framework yields finite impulse response, time-invariant, closed-loop transfer functions…
Reactive systems that operate in environments with complex data, such as mobile apps or embedded controllers with many sensors, are difficult to synthesize. Synthesis tools usually fail for such systems because the state space resulting…
We introduce QualityFlow, a dynamic agentic workflow for program synthesis. Given the English description of a programming problem and a set of unit tests, the model's goal is to synthesize the correct program that solves the problem and…
We present a compositional approach to controller synthesis of discrete event system controllers with linear temporal logic (LTL) goals. We exploit the modular structure of the plant to be controlled, given as a set of labelled transition…
In this paper, we consider the notion of resilience of a dynamical system, defined by the maximum disturbance a controlled dynamical system can withstand while satisfying given temporal logic specifications. Given a dynamical system and a…
This paper considers the containment control problem for multi-agent systems with general linear dynamics and multiple leaders whose control inputs are possibly nonzero and time varying. Based on the relative states of neighboring agents, a…
The aim of this work is to introduce an efficient procedure for discrete multi-agent planning under local complex temporal logic behavior specifications. While the first part of an agent's behavior specification constraints the agent's…
This paper presents novel solutions of the data-based synchronization problem for continuous-time multiagent systems. We consider the cases of homogeneous and heterogeneous systems. First, we obtain a data-based representation of the…