Related papers: Inductive Certificate Synthesis for Control Design
Software system certification presents itself with many challenges, including the necessity to certify the system at the level of functional requirements, code and binary levels, the need to chase down run-time errors, and the need for…
In reactive controller synthesis, a number of implementations (controllers) are possible for a given specification because of the incomplete nature of specification. To choose the most desirable one from the various options, we need to…
This paper presents a robust control synthesis and analysis framework for nonlinear systems with uncertain initial conditions. First, a deep learning-based lifting approach is proposed to approximate nonlinear dynamical systems with linear…
This paper focuses on synthesizing control policies for discrete-time stochastic control systems together with a lower bound on the probability that the systems satisfy the complex temporal properties. The desired properties of the system…
The present work deals with quantitative two-phase reach-avoid problems on nonlinear control systems. This class of optimal control problem requires the plant's state to visit two (rather than one) target sets in succession while minimizing…
Barrier functions (also called certificates) have been an important tool for the verification of hybrid systems, and have also played important roles in optimization and multi-objective control. The extension of a barrier function to a…
Robotic research over the last decades have lead us to different architectures to automatically synthesise discrete event controllers and implement these motion and task plans in real-world robot scenarios. However, these architectures…
A well-designed control system facilitates the functions of machine operation, maintenance and development. In addition, the overall effectiveness of the control system can be greatly enhanced by providing reliable mechanisms for…
Control barrier functions have shown great success in addressing control problems with safety guarantees. These methods usually find the next safe control input by solving an online quadratic programming problem. However, model uncertainty…
Ensuring constraint satisfaction is a key requirement for safety-critical systems, which include most robotic platforms. For example, constraints can be used for modeling joint position/velocity/torque limits and collision avoidance.…
In this paper, we present how to synthesize controllers to enforce $\omega$-regular properties over linear control systems affected by bounded disturbances. In particular, these controllers are synthesized based on so-called hybrid…
Structured output feedback controller synthesis is an exciting recent concept in modern control design, which bridges between theory and practice in so far as it allows for the first time to apply sophisticated mathematical design paradigms…
In the state-of-the-art literature on cryptography and control theory, there has been no systematic methodology of constructing cyber-physical systems that can achieve desired control performance while being protected against eavesdropping…
This paper introduces a generative model designed for multimodal control over text-to-image foundation generative AI models such as Stable Diffusion, specifically tailored for engineering design synthesis. Our model proposes parametric,…
In many domains, software systems cannot be deployed until authorities judge them fit for use in an intended operating environment. Certification standards and processes have been devised and deployed to regulate operations of software…
Optimal control is an essential tool for stabilizing complex nonlinear systems. However, despite the extensive impacts of methods such as receding horizon control, dynamic programming and reinforcement learning, the design of cost functions…
Regular model checking is a technique for the verification of infinite-state systems whose configurations can be represented as finite words over a suitable alphabet. The form we are studying applies to systems whose set of initial…
We study feedback controller synthesis for reach-avoid control of discrete-time, linear time-invariant (LTI) systems with Gaussian process and measurement noise. The problem is to compute a controller such that, with at least some required…
Most control synthesis methods under temporal logic properties require a model of the system, however, identifying such a model can be a challenging task. In this work, we develop a direct data-driven control synthesis method for temporal…
The barrier function method for safety control typically assumes the availability of full state information. Unfortunately, in many scenarios involving uncertain dynamical systems, full state information is often unavailable. In this paper,…