Related papers: Reactive Control Improvisation
In this paper, we study a safe control design for dynamical systems in the presence of uncertainty in a dynamical environment. The worst-case error approach is considered to formulate robust Control Barrier Functions (CBFs) in an…
We synthesize shared control protocols subject to probabilistic temporal logic specifications. More specifically, we develop a framework in which a human and an autonomy protocol can issue commands to carry out a certain task. We blend…
We present a robust generalization of the synthetic control method for comparative case studies. Like the classical method, we present an algorithm to estimate the unobservable counterfactual of a treatment unit. A distinguishing feature of…
Recent advances in learning for control allow to synthesize vehicle controllers from learned system dynamics and maintain robust stability guarantees. However, no approach is well-suited for training linear time-invariant (LTI) controllers…
Many problems in reactive synthesis are stated using two formulas ---an environment assumption and a system guarantee--- and ask for an implementation that satisfies the guarantee in environments that satisfy their assumption. Reactive…
We consider the feedback design for stabilizing a rigid body system by making and breaking multiple contacts with the environment without prespecifying the timing or the number of occurrence of the contacts. We model such a system as a…
Complex Cyber-Physical System (CPS) such as Unmanned Aerial System (UAS) got rapid development these years, but also became vulnerable to GPS spoofing, packets injection, buffer-overflow and other malicious attacks. Ensuring the behaviors…
Classical reactive synthesis approaches aim to synthesize a reactive system that always satisfies a given specifications. These approaches often reduce to playing a two-player zero-sum game where the goal is to synthesize a winning…
We propose Teamwork Synthesis, a version of the distributed synthesis problem with application to teamwork multi-agent systems. We reformulate the distributed synthesis question by dropping the fixed interaction architecture among agents as…
Formal control of cyber-physical systems allows for synthesis of control strategies from rich specifications such as temporal logics. However, the classes of systems that the formal approaches can be applied to is limited due to the…
We generalize the system level synthesis framework to systems defined by bounded causal linear operators, and use this parameterization to make connections between robust system level synthesis and classical results from the robust control…
Synthetic control is a causal inference tool used to estimate the treatment effects of an intervention by creating synthetic counterfactual data. This approach combines measurements from other similar observations (i.e., donor pool ) to…
We summarise our experience developing and using Termite, the first reactive synthesis tool intended for use by software development practitioners. We identify the main barriers to making reactive synthesis accessible to software developers…
Given a set of interacting components with non-deterministic variable update and given safety requirements, the goal of priority synthesis is to restrict, by means of priorities, the set of possible interactions in such a way as to…
Reaction-diffusion systems offer a powerful framework for understanding self-organized patterns in biological systems, yet controlling these patterns remains a significant challenge. As a consequence, we present a rigorous framework of…
Symbolic control is an abstraction-based controller synthesis approach that provides, algorithmically, certifiable-by-construction controllers for cyber-physical systems. Symbolic control approaches usually assume that full-state…
This paper presents a synthesis method for the generalised dynamic regret problem, comparing the performance of a strictly causal controller to the optimal non-causal controller under a weighted disturbance. This framework encompasses both…
We propose a parameterization of a nonlinear dynamic controller based on the recurrent equilibrium network, a generalization of the recurrent neural network. We derive constraints on the parameterization under which the controller…
Teaching systems physical tasks is a long standing goal in HCI, yet most prior work has focused on non collaborative physical activities. Collaborative tasks introduce added complexity, requiring systems to infer users assumptions about…
In this paper, we introduce a high-level controller synthesis framework that enables teams of heterogeneous agents to assist each other in resolving environmental conflicts that appear at runtime. This conflict resolution method is built…