Related papers: Using control synthesis to generate corner cases: …
The focus of this thesis is developing a framework for designing correct-by-construction controllers using control certificates. We use nonlinear dynamical systems to model the physical environment (plants). The goal is to synthesize…
We consider the problem of coordinating a collection of switched subsystems under both local and global constraints for safe operation of the system. Although an invariant set can be leveraged to construct a safety-guaranteed controller for…
Autonomous driving techniques have been flourishing in recent years while thirsting for huge amounts of high-quality data. However, it is difficult for real-world datasets to keep up with the pace of changing requirements due to their…
Counterfactual estimation using synthetic controls is one of the most successful recent methodological developments in causal inference. Despite its popularity, the current description only considers time series aligned across units and…
Autonomous driving has been the subject of increased interest in recent years both in industry and in academia. Serious efforts are being pursued to address legal, technical and logistical problems and make autonomous cars a viable option…
General purpose correct-by-construction synthesis methods are limited to systems with low dimensionality or simple specifications. In this work we consider highly symmetrical counting problems and exploit the symmetry to synthesize provably…
Control barrier certificates have proven effective in formally guaranteeing the safety of the control systems. However, designing a control barrier certificate is a time-consuming and computationally expensive endeavor that requires expert…
The generation of synthetic data is an essential tool to study complex systems, allowing for example to test models of these in precisely controlled settings, or to parametrize simulation models when data is missing. This paper focuses on…
Ensuring constraint satisfaction in large-scale systems with hard constraints is vital in many safety critical systems. The challenge is to design controllers that are efficiently synthesized offline, easily implementable online, and…
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 consider a control synthesis problem for a class of polynomial dynamical systems subject to bounded disturbances and with input constraints. More precisely, we aim at synthesizing at the same time a controller and an…
We consider the problem of designing finite-horizon safe controllers for a dynamical system for which no explicit analytical model exists and limited data only along a single trajectory of the system are available. Given samples of the…
This paper considers the problem of safety controller synthesis for systems equipped with sensor modalities that can provide preview information. We consider switched systems where switching mode is an external signal for which preview…
The validation of autonomous driving systems benefits greatly from the ability to generate scenarios that are both realistic and precisely controllable. Conventional approaches, such as real-world test drives, are not only expensive but…
This paper focuses on the invariance control problem for discrete-time switched nonlinear systems. The proposed approach computes controlled invariant sets in a finite number of iterations and directly yields a partition-based invariance…
This paper presents a novel approach for safe control synthesis using the dual formulation of the navigation problem. The main contribution of this paper is in the analytical construction of density functions for almost everywhere…
In this paper, we study feedback dynamical systems with memoryless controllers under imperfect information. We develop an algorithm that searches for "adversarial scenarios", which can be thought of as the strategy for the adversary…
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.…
Deep neural network controllers for autonomous driving have recently benefited from significant performance improvements, and have begun deployment in the real world. Prior to their widespread adoption, safety guarantees are needed on the…
The objective of this paper is to solve the controller synthesis problem for bisimulation equivalence in a wide variety of scenarios including discrete-event systems, nonlinear control systems, behavioral systems, hybrid systems and many…