Related papers: The Reach-Avoid Problem for Constant-Rate Multi-Mo…

We characterize and compute the maximal admissible positively invariant set for asymptotically stable constrained switching linear systems. Motivated by practical problems found, e.g., in obstacle avoidance, power electronics and nonlinear…

In recent years, advanced model-based and data-driven control methods are unlocking the potential of complex robotics systems, and we can expect this trend to continue at an exponential rate in the near future. However, ensuring safety with…

Voltage stability in modern power systems involves coupled dynamics across multiple time scales. Conventional methods based on time-scale separation or static stability margins may overlook instabilities caused by the coupling of slow and…

We present CLTLB(D), an extension of PLTLB (PLTL with both past and future operators) augmented with atomic formulae built over a constraint system D. Even for decidable constraint systems, satisfiability and Model Checking problem of such…

This paper studies the distributed mode consensus problem in a multi-agent system, in which the agents each possess a certain attribute and they aim to agree upon the mode (the most frequent attribute owned by the agents) via distributed…

This paper addresses the autonomous robot navigation problem in a priori unknown n-dimensional environments containing disjoint convex obstacles of arbitrary shapes and sizes, with pairwise distances strictly greater than the robot's…

Despite remarkable achievements in artificial intelligence, the deployability of learning-enabled systems in high-stakes real-world environments still faces persistent challenges. For example, in safety-critical domains like autonomous…

In this article we approach a class of stochastic reachability problems with state constraints from an optimal control perspective. Preceding approaches to solving these reachability problems are either confined to the deterministic setting…

Robots such as autonomous vehicles and assistive manipulators are increasingly operating in dynamic environments and close physical proximity to people. In such scenarios, the robot can leverage a human motion predictor to predict their…

Reachable set computation is an important tool for analyzing control systems. Simulating a control system can show general trends, but a formal tool like reachability analysis can provide guarantees of correctness. Reachability analysis for…

This paper presents two stochastic model predictive control methods for linear time-invariant systems subject to unbounded additive uncertainties. The new methods are developed by formulating the chance constraints into deterministic form,…

Approximating the set of reachable states of a dynamical system is an algorithmic yet mathematically rigorous way to reason about its safety. Although progress has been made in the development of efficient algorithms for affine dynamical…

Uncertain dynamic obstacles, such as pedestrians or vehicles, pose a major challenge for optimal robot navigation with safety guarantees. Previous work on motion planning has followed two main strategies to provide a safe bound on an…

This work discusses the reachability analysis (RA) of Max-Plus Linear (MPL) systems, a class of continuous-space, discrete-event models defined over the max-plus algebra. Given the initial and target sets, we develop algorithms to verify…

Despite large advances in recent years, real-time capable motion planning for autonomous road vehicles remains a huge challenge. In this work, we present a decision module that is based on set-based reachability analysis: First, we identify…

For a nonlinear system (e.g. a robot) with its continuous state space trajectories constrained by a linear temporal logic specification, the synthesis of a low-level controller for mission execution often results in a non-convex…

We study algorithmic problems in multi-stage open shop processing systems that are centered around reachability and deadlock detection questions. We characterize safe and unsafe system states. We show that it is easy to recognize system…

In fast-paced, ever-changing environments, dynamic Motion Planning for Multi-Agent Systems in the presence of obstacles is a universal and unsolved problem. Be it from path planning around obstacles to the movement of robotic arms, or in…

This paper proposes an algorithm capable of driving a system to follow a piecewise linear trajectory without prior knowledge of the system dynamics. Motivated by a critical failure scenario in which a system can experience an abrupt change…

Reachability analysis is a widely used method to analyze the safety of a Human-in-the-Loop Cyber Physical System (HiLCPS). This strategy allows the HiLCPS to respond against an imminent threat in advance by predicting reachable states of…