Related papers: Minimum Violation Control Synthesis on Cyber-Physi…
This paper considers the problem of computing an optimal trajectory for an autonomous system that is subject to a set of potentially conflicting rules. First, we introduce the concept of prioritized safety specifications, where each rule is…
We investigate the control synthesis problem for continuous-time time-varying nonlinear systems with disturbance under a class of multiple reach-avoid (MRA) tasks. Specifically, the MRA task requires the system to reach a series of target…
A major challenge faced in the design of large-scale cyber-physical systems, such as power systems, the Internet of Things or intelligent transportation systems, is that traditional distributed optimal control methods do not scale…
This paper proposes a framework for secure and resilient controller design for positive systems against cyber-attacks. In particular, we consider a network-controlled system where an adversary injects false data into the actuator channels…
We study the problem of \textit{safe control of linear dynamical systems corrupted with non-stochastic noise}, and provide an algorithm that guarantees (i) zero constraint violation of convex time-varying constraints, and (ii) bounded…
Ensuring that agents satisfy safety specifications can be crucial in safety-critical environments. While methods exist for controller synthesis with safe temporal specifications, most existing methods restrict safe temporal specifications…
In this paper, we investigate the problem of synthesizing resilient supervisors against combined actuator and sensor attacks, for the subclass of cyber-physical systems that can be modelled as discrete-event systems. We assume that the…
In time-critical systems, such as air traffic control systems, it is crucial to design control policies that are robust to timing uncertainty. Recently, the notion of Asynchronous Temporal Robustness (ATR) was proposed to capture the…
This paper studies the control of safety-critical dynamical systems in the presence of adversarial disturbances. We seek to synthesize state-feedback controllers to minimize a cost incurred due to the disturbance, while respecting a safety…
Synthesizing a program that realizes a logical specification is a classical problem in computer science. We examine a particular type of program synthesis, where the objective is to synthesize a strategy that reacts to a potentially…
This paper presents a method for the simultaneous synthesis of a barrier certificate and a safe controller for discrete-time nonlinear stochastic systems. Our approach, based on piecewise stochastic control barrier functions, reduces the…
Temporal synthesis is the automated design of a system that interacts with an environment, using the declarative specification of the system's behavior. A popular language for providing such a specification is Linear Temporal Logic, or LTL.…
Synchronous programming is a paradigm of choice for the design of safety-critical reactive systems. Runtime enforcement is a technique to ensure that the output of a black-box system satisfies some desired properties. This paper deals with…
Cyber Physical Systems (CPS) are becoming ubiquitous and affect the physical world, yet security is seldom at the forefront of their design. This is especially true of robotic control algorithms which seldom consider the effect of a cyber…
Supervisory control of discrete-event systems with a global safety specification and with only local supervisors is a difficult problem. For global specifications the equivalent conditions for local control synthesis to equal global control…
We present Shrinking Horizon Model Predictive Control (SHMPC) for discrete-time linear systems with Signal Temporal Logic (STL) specification constraints under stochastic disturbances. The control objective is to maximize an optimization…
A common aspect of today's cyber-physical systems is that multiple optimization-based control tasks may execute in a shared processor. Such control tasks make use of online optimization and thus have large execution times; hence, their…
Formal control synthesis approaches over stochastic systems have received significant attention in the past few years, in view of their ability to provide provably correct controllers for complex logical specifications in an automated…
The control Barrier function approach has been widely used for safe controller synthesis. By solving an online convex quadratic programming problem, an optimal safe controller can be synthesized implicitly in state-space. Since the solution…
In this paper, we present a control framework that allows magnetic microrobot teams to accomplish complex micromanipulation tasks captured by global Linear Temporal Logic (LTL) formulas. To address this problem, we propose an optimal…