Related papers: Nonuniform abstractions, refinement and controller…
This paper presents an automatic formal controller synthesis method for nonlinear sampled-data systems with safety and reachability specifications. Fundamentally, the presented method is not restricted to polynomial systems and controllers.…
Analysis of Markov Decision Processes (MDP) is often hindered by state space explosion. Abstraction is a well-established technique in model checking to mitigate this issue. This paper presents a novel lazy abstraction method for MDP…
This work addresses the general problem of control synthesis for continuous-space, discrete-time stochastic systems with probabilistic guarantees via finite abstractions. While established methods exist, they often trade off accuracy for…
This paper deals with the controllability for a class of non-autonomous neutral differential equations of fractional order with infinite delay in an abstract space. The semi-group theory of bounded linear operators, fractional calculus, and…
This paper introduces a novel abstraction-based framework for controller synthesis of nonlinear discrete-time stochastic systems. The focus is on probabilistic reach-avoid specifications. The framework is based on abstracting a stochastic…
The practical impact of abstraction-based controller synthesis methods is currently limited by the immense computational effort for obtaining abstractions. In this note we focus on a recently proposed method to compute abstractions whose…
In this paper, we propose a compositional approach for the construction of finite abstractions (a.k.a. finite Markov decision processes (MDPs)) for networks of discrete-time stochastic control subsystems that are not necessarily…
This article presents a scalable implementation of nonlinear Gramian-based control synthesis for control-affine systems, including a minimum energy control construction. These synthesis advances are achieved by addressing key computational…
This paper proposes a transition system abstraction framework for neural network dynamical system models to enhance the model interpretability, with applications to complex dynamical systems such as human behavior learning and verification.…
Modern nonlinear control theory seeks to endow systems with properties such as stability and safety, and has been deployed successfully across various domains. Despite this success, model uncertainty remains a significant challenge in…
The aim of this work is to address issues where formal specifications cannot be realized on a given dynamical system subjected to a changing environment. Such failures occur whenever the dynamics of the system restrict the robot in such a…
We describe a set of lower-level abstractions to improve performance on modern large scale heterogeneous systems. These provide portable access to system- and hardware-dependent features, automatically apply dynamic optimizations at run…
This paper deals with the development and analysis of novel time-optimal point-to-point model predictive control concepts for nonlinear systems. Recent approaches in the literature apply a time transformation, however, which do not maintain…
Though switched dynamical systems have shown great utility in modeling a variety of physical phenomena, the construction of an optimal control of such systems has proven difficult since it demands some type of optimal mode scheduling. In…
We develop a new method which extends Dynamic Mode Decomposition (DMD) to incorporate the effect of control to extract low-order models from high-dimensional, complex systems. DMD finds spatial-temporal coherent modes, connects local-linear…
Safety-critical controllers of complex systems are hard to construct manually. Automated approaches such as controller synthesis or learning provide a tempting alternative but usually lack explainability. To this end, learning decision…
This paper proposes a method to synthesise controllers for cyber-physical systems such that the controlled systems satisfy specifications given as linear temporal logic formulas. The focus is on systems with disturbance, where future states…
This paper deals with the tracking control problem for a very simple class of unknown nonlinear systems. In this paper, we presents a design strategy for tracking control of time-varying state constrained nonlinear systems in an adaptive…
The problem under consideration is the synthesis of a distributed controller for a nonlinear network composed of input affine systems. The objective is to achieve exponential convergence of the solutions. To design such a feedback law,…
Motivated by functional synthesis in sequential circuit construction and quantified boolean formulas (QBF), boolean synthesis serves as one of the core problems in Formal Methods. Recent advances show that decision diagrams (DD) are…