Related papers: DCSYNTH: Guided Reactive Synthesis with Soft Requi…
Controller synthesis is the process of constructing a correct system automatically from its specification. This often requires assumptions about the behaviour of the environment. It is difficult for the designer to identify the assumptions…
Controlling contacts is truly challenging, and this has been a major hurdle to deploying industrial robots into unstructured/human-centric environments. More specifically, the main challenges are: (i) how to ensure stability at all times;…
Synthetic control is a causal inference tool used to estimate the treatment effects of an intervention by creating synthetic counterfactual data. This approach combines measurements from other similar observations (i.e., donor pool ) to…
We present a controller synthesis algorithm for reach-avoid problems for piecewise linear discrete-time systems. Our algorithm relies on SMT solvers and in this paper we focus on piecewise constant control strategies. Our algorithm…
In this paper, we consider a control synthesis problem for a class of polynomial dynamical systems subject to bounded disturbances and with input constraints. More precisely, we aim at synthesizing at the same time a controller and an…
When designing correct-by-construction controllers for autonomous collectives, three key challenges are the task specification, the modelling, and its use at practical scale. In this paper, we focus on a simple yet useful abstraction for…
Cyber-physical systems are often safety-critical in that violations of safety properties may lead to catastrophes. We propose a method to enforce the safety of systems with real-valued signals by synthesizing a runtime enforcer called the…
Time-varying optimization is fundamental to decision-making in dynamic environments, where objectives evolve over time due to exogenous signals or data streams. However, algorithms designed for static problems yield suboptimal decisions in…
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…
To implement important quality attributes of software such as architectural security tactics, developers incorporate API of software frameworks, as building blocks, to avoid re-inventing the wheel and improve their productivity. However,…
This work explores the trade-off between the number of samples required to accurately build models of dynamical systems and the degradation of performance in various control objectives due to a coarse approximation. In particular, we show…
We consider the feedback design for stabilizing a rigid body system by making and breaking multiple contacts with the environment without prespecifying the timing or the number of occurrence of the contacts. We model such a system as a…
This paper studies the synthesis of controllers for cyber-physical systems (CPSs) that are required to carry out complex tasks that are time-sensitive, in the presence of an adversary. The task is specified as a formula in metric interval…
This paper presents a safe controller synthesis of discrete-time stochastic systems using Control Barrier Functions (CBFs). The proposed condition allows the design of a safe controller synthesis that ensures system safety while avoiding…
In this article, the problem of synthesizing switching controllers is considered through the synthesis of a "control certificate". Control certificates include control barrier and Lyapunov functions, which represent control strategies, and…
We present a sound and automated approach to synthesize safe digital feedback controllers for physical plants represented as linear, time invariant models. Models are given as dynamical equations with inputs, evolving over a continuous…
Software implementations of controllers for physical systems are at the core of many embedded systems. The design of controllers uses the theory of dynamical systems to construct a mathematical control law that ensures that the controlled…
System level synthesis enables improved robust MPC formulations by allowing for joint optimization of the nominal trajectory and controller. This paper introduces a tailored algorithm for solving the corresponding disturbance feedback…
Learning-based methods have gained popularity for training candidate Control Barrier Functions (CBFs) to satisfy the CBF conditions on a finite set of sampled states. However, since the CBF is unknown a priori, it is unclear which sampled…
Controllers designed with reinforcement learning can be sensitive to model mismatch. We demonstrate that designing such controllers in a virtual simulation environment with an inaccurate model is not suitable for deployment in a physical…