Related papers: Reactive Control Improvisation
A challenging problem for autonomous systems is to synthesize a reactive controller that conforms to a set of given correctness properties. Linear temporal logic (LTL) provides a formal language to specify the desired behavioral properties…
This paper proposes a framework for automatic formal controller synthesis for general hybrid systems with a subset of safety and reachability specifications. The framework uses genetic programming to automatically co-synthesize controllers…
This paper addresses the synthesis of reactive systems that enforce hard constraints while optimizing for quality-based soft constraints. We build on recent advancements in combining reactive synthesis with example-based guidance to handle…
Despite many recent advances, reactive synthesis is still not really a practical technique. The grand challenge is to scale from small transition systems, where synthesis performs well, to complex multi-component designs. Compositional…
Recent advances in learning-based perception systems have led to drastic improvements in the performance of robotic systems like autonomous vehicles and surgical robots. These perception systems, however, are hard to analyze and errors in…
We propose a method to synthesize a parameterized infinite-state systems that can be instantiated for different parameter values. The specification is given in a parameterized temporal logic that allows for data variables as well as…
We formalize synthesis of shared control protocols with correctness guarantees for temporal logic specifications. More specifically, we introduce a modeling formalism in which both a human and an autonomy protocol can issue commands to a…
In recent years, formal methods have been extensively used in the design of autonomous systems. By employing mathematically rigorous techniques, formal methods can provide fully automated reasoning processes with provable safety guarantees…
Reactive synthesis aims at automatic construction of systems from their behavioural specifications. The research mostly focuses on synthesis of systems dealing with Boolean signals. But real-life systems are often described using…
In program synthesis, we transform a specification into a program that is guaranteed to satisfy the specification. In synthesis of reactive systems, the environment in which the program operates may behave nondeterministically, e.g., by…
This paper aims at the safety-critical control synthesis of network systems such that the satisfaction of the safety constraints can be guaranteed. To handle the large state dimension of such systems, an assume-guarantee contract is used to…
Temporal synthesis attempts to construct reactive programs that satisfy a given declarative (LTL) formula. Practitioners have found it challenging to work exclusively with declarative specifications, and have found languages that combine…
We propose a real-time method for reactive motion synthesis based on the known trajectory of input character, predicting instant reactions using only historical, user-controlled motions. Our method handles the uncertainty of future…
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…
Synthesis of reversible logic circuits has gained great atten- tion during the last decade. Various synthesis techniques have been pro- posed, some generate optimal solutions (in gate count) and are termed as exact, while others are…
We consider the problem of designing distributed controllers to guarantee dissipativity of a networked system comprised of dynamically coupled subsystems. We require that the control synthesis is carried out locally at the subsystem-level,…
In this paper we present an assume-guarantee specification theory (aka interface theory from [14]) for modular synthesis and verification of real-time systems with critical timing constraints. It is a further step of our earlier work [10]…
The goal of logical controller synthesis is to automatically compute a control strategy that regulates the discrete, event-driven behavior of a given plant s.t. a temporal logic specification holds over all remaining traces. Standard…
In this work, we present a compositional safety controller synthesis approach for the class of discrete-time linear control systems. Here, we leverage a state-of-the-art result on the computation of robust controlled invariant sets. To…
We introduce the term Super-Reactive Systems to refer to reactive systems whose construction and behavior are complex, constantly changing and evolving, and heavily interwoven with other systems and the physical world. Finding hidden faults…