Related papers: Hierarchical decomposition of LTL synthesis proble…
Signal Temporal Logic (STL) is a powerful language for specifying temporally structured robotic tasks. Planning executable trajectories under STL constraints remains difficult when system dynamics and environment structure are not…
We present a lazy version of multi-layered abstraction-based controller synthesis (ABCS) for continuous-time nonlinear dynamical systems against safety specifications. State-of-the-art multi-layered ABCS uses pre-computed finite-state…
Linear temporal logic (LTL) has recently been adopted as a powerful formalism for specifying complex, temporally extended tasks in multi-task reinforcement learning (RL). However, learning policies that efficiently satisfy arbitrary…
In this paper, we design nonlinear state feedback controllers for discrete-time polynomial dynamical systems via the occupation measure approach. We propose the discrete-time controlled Liouville equation, and use it to formulate the…
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,…
This paper presents a novel approach to synthesize dual controllers for unknown linear time-invariant systems with the tasks of optimizing a quadratic cost while reducing the uncertainty. To this end, a synthesis problem is defined where…
We consider joint trajectory generation and tracking control for under-actuated robotic systems. A common solution is to use a layered control architecture, where the top layer uses a simplified model of system dynamics for trajectory…
This paper proposes a new highly scalable and asymptotically optimal control synthesis algorithm from linear temporal logic specifications, called $\text{STyLuS}^{*}$ for large-Scale optimal Temporal Logic Synthesis, that is designed to…
This paper studies the control synthesis of motion planning subject to uncertainties. The uncertainties are considered in robot motions and environment properties, giving rise to the probabilistic labeled Markov decision process (PL-MDP). A…
We propose a hierarchical control framework for the synthesis of correct-by-construction controllers for nonlinear control-affine systems with respect to reach-avoid-stay specifications. We first create a low-dimensional continuous…
Human drivers naturally balance the risks of different concerns while driving, including traffic rule violations, minor accidents, and fatalities. However, achieving the same behavior in autonomous driving systems remains an open problem.…
In this paper we introduce a class of Linear Temporal Logic (LTL) specifications for which the problem of synthesizing controllers can be solved in polynomial time. The new class of specifications is an LTL fragment that we term Mode-Target…
In this paper we present a method for automatically planning robust optimal paths for a group of robots that satisfy a common high level mission specification. Each robot's motion in the environment is modeled as a weighted transition…
We present lazy abstraction-based controller synthesis (ABCS) for continuous-time nonlinear dynamical systems against reach-avoid and safety specifications. State-of-the-art multi-layered ABCS pre-computes multiple finite-state abstractions…
In this paper we study the problem of synthesizing optimal control policies for uncertain continuous-time nonlinear systems from syntactically co-safe linear temporal logic (scLTL) formulas. We formulate this problem as a sequence of…
A tensor decomposition approach for the solution of high-dimensional, fully nonlinear Hamilton-Jacobi-Bellman equations arising in optimal feedback control of nonlinear dynamics is presented. The method combines a tensor train approximation…
Translating continuous control system models into finite automata allows us to use powerful discrete tools to synthesize controllers for complex specifications. The abstraction construction step is unfortunately hamstrung by high runtime…
Standpoint linear temporal logic SLTL is a recent formalism able to model possibly conflicting commitments made by distinct agents, taking into account aspects of temporal reasoning. In this paper, we analyse the computational properties of…
We present a hierarchical computation approach for solving finite-time optimal control problems using operator splitting methods. The first split is performed over the time index and leads to as many subproblems as the length of the…
Design of optimal distributed linear feedback controllers to achieve a desired aggregate behavior, while simultaneously satisfying state and input constraints, is a challenging but important problem in many applications. System level…