Related papers: Nonuniform abstractions, refinement and controller…
This paper presents a fully automated procedure for controller synthesis for a general class of multi-agent systems under coupling constraints. Each agent is modeled with dynamics consisting of two terms: the first one models the coupling…
Scheduling communication traffic in networks of event-triggered control (ETC) systems is challenging, as their sampling times are unknown, hindering application of ETC in networks. In previous work, finite-state abstractions were created,…
Nonlinear optimal control problems for trajectory planning with obstacle avoidance present several challenges. While general-purpose optimizers and dynamic programming methods struggle when adopted separately, their combination enabled by a…
In time-critical systems, such as air traffic control systems, it is crucial to design control policies that are robust to timing uncertainty. Recently, the notion of Asynchronous Temporal Robustness (ATR) was proposed to capture the…
This paper presents a Lyapunov function based control strategy for networked control systems (NCS) affected by variable time delays and data loss. A special focus is put on the reduction of the computational complexity. A specific buffering…
In this paper, we develop a compositional scheme for the construction of continuous approximations for interconnections of infinitely many discrete-time switched systems. An approximation (also known as abstraction) is itself a…
In this paper, we leverage the efficiency of Binarized Neural Networks (BNNs) to learn complex state transition models of planning domains with discretized factored state and action spaces. In order to directly exploit this transition…
Symbolic approaches to the control design over complex systems employ the construction of finite-state models that are related to the original control systems, then use techniques from finite-state synthesis to compute controllers…
The last decade has witnessed significant attention on networked control systems (NCS) due to their ubiquitous presence in industrial applications, and, in the particular case of wireless NCS, because of their architectural flexibility and…
In this paper, we introduce a compositional scheme for the construction of finite abstractions (a.k.a. symbolic models) of interconnected discrete-time control systems. The compositional scheme is based on small-gain type reasoning. In…
We construct compositional continuous approximations for an interconnection of infinitely many discrete-time switched systems. An approximation (known as abstraction) is itself a continuous-space system, which can be used as a replacement…
Controllers for dynamical systems that operate in safety-critical settings must account for stochastic disturbances. Such disturbances are often modeled as process noise in a dynamical system, and common assumptions are that the underlying…
In this report proofs are presented for a method for abstracting continuous dynamical systems by timed automata. The method is based on partitioning the state space of dynamical systems with invariant sets, which form cells representing…
This paper presents an input-output simulation approach to controlling multi-affine systems for linear temporal logic (LTL) specifications, which consists of the following steps. First, we partition the state space into rectangles, each of…
The formal analysis and design of control systems is one of recent trends in control theory. In this area, in order to reduce the complexity and scale of control systems, finite abstractions of control systems are introduced and explored.…
Distributed controller synthesis offers scalable and privacy-preserving control design, but typical state-of-the-art approaches either assume white-box models or resort to centralized synthesis. In this paper, we combine partially known…
Modern control is implemented with digital microcontrollers, embedded within a dynamical plant that represents physical components. We present a new algorithm based on counter-example guided inductive synthesis that automates the design of…
In this work, we propose a data-driven approach for the construction of finite abstractions (a.k.a., symbolic models) for discrete-time deterministic control systems with unknown dynamics. We leverage notions of so-called alternating…
We present a control design procedure for nonlinear control systems in which we represent a potentially high dimensional system with a low dimensional continuous-state abstraction. The abstraction generates a reference which the original…
This paper studies the finite-horizon robust optimal control of constrained linear systems subject to model mismatch and additive stochastic disturbances. Utilizing the system level synthesis (SLS) parameterization, we propose a novel SLS…