Related papers: Minimum Violation Control Synthesis on Cyber-Physi…
In this work, we propose a novel approach for the continuous-time control synthesis of nonlinear systems under nested signal temporal logic (STL) specifications. While the majority of existing literature focuses on control synthesis for STL…
This paper studies the online control synthesis problem for uncertain discrete-time systems subject to signal temporal logic (STL) specifications. Different from existing techniques, this work proposes an approach based on STL, reachability…
In this paper, we present an approach for designing correct-by-design controllers for cyber-physical systems composed of multiple dynamically interconnected uncertain systems. We consider networked discrete-time uncertain nonlinear systems…
With the advent of Industry 4.0, industrial facilities and critical infrastructures are transforming into an ecosystem of heterogeneous physical and cyber components, such as programmable logic controllers, increasingly interconnected and…
Scalability issues may prevent users from verifying critical properties of a complex hardware design. In this situation, we propose to synthesize a "safety shield" that is attached to the design to enforce the properties at run time. Shield…
This tutorial paper presents recent work of the authors that extends the theory of Control Barrier Functions (CBFs) to address practical challenges in the synthesis of safe controllers for autonomous systems and robots. We present novel…
We consider a discrete-time linear-quadratic Gaussian control problem in which we minimize a weighted sum of the directed information from the state of the system to the control input and the control cost. The optimal control and sensing…
Deadline misses are more common in real-world systems than one may expect. The weakly-hard task model has become a standard abstraction to describe and analyze how often these misses occur, and has been especially used in control…
We propose novel controller synthesis techniques for probabilistic systems modelled using stochastic two-player games: one player acts as a controller, the second represents its environment, and probability is used to capture uncertainty…
Real-time cyber-physical systems depend on deterministic task execution to guarantee safety and correctness. Unfortunately, this determinism can unintentionally expose timing information that enables adversaries to infer task execution…
We study the problem of controlling multi-agent systems under a set of signal temporal logic tasks. Signal temporal logic is a formalism that is used to express time and space constraints for dynamical systems. Recent methods to solve the…
In real-time and safety-critical cyber-physical systems (CPSs), control synthesis must guarantee that generated policies meet stringent timing and correctness requirements under uncertain and dynamic conditions. Signal temporal logic (STL)…
There are spatio-temporal rules that dictate how robots should operate in complex environments, e.g., road rules govern how (self-driving) vehicles should behave on the road. However, seamlessly incorporating such rules into a robot control…
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…
In many multi-agent systems, communication is limited by bandwidth, latency, and energy constraints. Designing controllers that achieve coordination and safety with minimal communication is critical for scalable and reliable deployment.…
The control synthesis of a dynamic system subject to a signal temporal logic (STL) specification is commonly formulated as a mixed-integer linear/convex programming (MILP/MICP) problem. Solving such a problem is computationally expensive…
Cyber-physical systems (CPS) with reinforcement learning (RL)-based controllers are increasingly being deployed in complex physical environments such as autonomous vehicles, the Internet-of-Things(IoT), and smart cities. An important…
Cyber-physical systems (CPS) are systems that interact with the physical world via sensors and actuators. In such a system, the reading of a sensor represents measures of a physical quantity, and sensor values are often reals ranged over…
This paper tackles the problem of generating safe exit controllers for continuous-time systems described by stochastic differential equations (SDEs). The primary aim is to develop controllers that maximize the lower bounds of the exit…
One of the major challenges about cyber physical systems is how to prevent cyber attacks to ensure system integrity. There has been a large number of different types of attacks discussed in the modern control and computer science…