Related papers: Reactive Supervisory Control of Open Discrete-even…
This paper investigates the problem of distributed nonblocking supervisory control for timed discrete-event systems (DESs). The distributed supervisors communicate with each other over networks subject to nondeterministic communication…
In decentralized systems, branching behaviors naturally arise due to communication, unmodeled dynamics and system abstraction, which can not be adequately captured by the traditional sequencing-based language equivalence. As a finer…
This paper provides observer-based sampled-data and event-triggered boundary control strategies for a class of reaction-diffusion PDEs with collocated sensing and Robin actuation. Infinite-dimensional backstepping design is used as the…
Sequential effect systems are a class of effect system that exploits information about program order, rather than discarding it as traditional commutative effect systems do. This extra expressive power allows effect systems to reason about…
This paper addresses the problem of generating dynamically admissible trajectories for control tasks using diffusion models, particularly in scenarios where the environment is complex and system dynamics are crucial for practical…
Soft robots manufactured with flexible materials can be highly compliant and adaptive to their surroundings, which facilitates their application in areas such as dexterous manipulation and environmental exploration. This paper aims at…
With the advancement of robotics, machine learning, and machine perception, increasingly more robots will enter human environments to assist with daily tasks. However, dynamically-changing human environments requires reactive motion plans.…
With an increasing use of data-driven models to control robotic systems, it has become important to develop a methodology for validating such models before they can be deployed to design a controller for the actual system. Specifically, it…
Self-adaptive systems are capable of adjusting their behavior to cope with the changes in environment and itself. These changes may cause runtime uncertainty, which refers to the system state of failing to achieve appropriate…
This paper addresses the problem of event-triggered control for infinite-dimensional systems. We employ event-triggering mechanisms that compare the plant state and the error of the control input induced by the event-triggered…
Discrete-time stochastic systems are an essential modelling tool for many engineering systems. We consider stochastic control systems that are evolving over continuous spaces. For this class of models, methods for the formal verification…
Robust model predictive control algorithms are essential for addressing unavoidable errors due to the uncertainty in predicting real-world systems. However, the formulation of such algorithms typically results in a trade-off between…
The design of real-time systems is based on assumptions about environmental conditions in which they will operate. We call this their safe operational envelope. Violation of these assumptions, i.e., out-of-envelope environments, can…
Existing approaches to the synthesis of reactive systems typically involve the construction of transition systems such as Mealy automata. However, in order to obtain a succinct representation of the desired system, structured programs can…
This paper proposes a discrete-time event-triggered extremum seeking control scheme for real-time optimization of nonlinear systems. Unlike conventional discrete-time implementations relying on periodic updates, the proposed approach…
This paper proposes a supervisory control structure for networked systems with time-varying delays. The control structure, in which a supervisor triggers the most appropriate controller from a multi-controller unit, aims at improving the…
In this paper, we investigate the problem of designing event-triggered controllers for containing epidemic processes in complex networks. We focus on a deterministic susceptible-infected-susceptible (SIS) model, which is one of the…
In this paper, we consider the event-triggered cooperative robust practical output regulation problem for a class of linear minimum-phase multi-agent systems. We first convert our problem into the cooperative robust practical stabilization…
Distributed model predictive control methods for uncertain systems often suffer from considerable conservatism and can tolerate only small uncertainties due to the use of robust formulations that are amenable to distributed design and…
Reactive synthesis is a framework for modeling and automatically synthesizing strategies in robotics, typically through computing a \emph{winning} strategy in a 2-player game between the robot and the environment. Winning strategies,…