Related papers: Automated Synthesis of Safe Digital Controllers fo…
In this work, we present a compositional safety controller synthesis approach for the class of discrete-time linear control systems. Here, we leverage a state-of-the-art result on the computation of robust controlled invariant sets. To…
This work develops a theoretical framework for safety controller synthesis in discrete-time stochastic nonlinear polynomial systems subject to time-invariant delays (dt-SNPS-td). While safety analysis of stochastic systems using control…
This paper considers safe control synthesis for dynamical systems with either probabilistic or worst-case uncertainty in both the dynamics model and the safety constraints. We formulate novel probabilistic and robust (worst-case) control…
A controller synthesis method for state- and input-constrained nonlinear systems is presented that seeks continuous piecewise affine (CPA) Lyapunov-like functions and controllers simultaneously. Non-convex optimization problems are…
Given a Markov decision process (MDP) and a linear-time ($\omega$-regular or LTL) specification, the controller synthesis problem aims to compute the optimal policy that satisfies the specification. More recently, problems that reason 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…
In this paper we consider the safety verification and safe controller synthesis problems for nonlinear control systems. The Control Barrier Certificates (CBC) approach is proposed as an extension to the Barrier certificates approach. Our…
We present DeepDECS, a new method for the synthesis of correct-by-construction discrete-event controllers for autonomous systems that use deep neural network (DNN) classifiers for the perception step of their decision-making processes.…
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…
We consider the problem of safety verification and safety-aware controller synthesis for systems with sector bounded nonlinearities. We aim to keep the states of the system within a given safe set under potential actuator and sensor…
Probabilistic hyperproperties specify quantitative relations between the probabilities of reaching different target sets of states from different initial sets of states. This class of behavioral properties is suitable for capturing…
This paper addresses the problem of control synthesis for nonlinear optimal control problems in the presence of state and input constraints. The presented approach relies upon transforming the given problem into an infinite-dimensional…
Designing controllers with provable formal guarantees has become an urgent requirement for cyber-physical systems in safety-critical scenarios. Beyond addressing scalability in high-dimensional implementations, controller synthesis…
The control of complex systems faces a trade-off between high performance and safety guarantees, which in particular restricts the application of learning-based methods to safety-critical systems. A recently proposed framework to address…
Automatic synthesis of hardware components from declarative specifications is an ambitious endeavor in computer aided design. Existing synthesis algorithms are often implemented with Binary Decision Diagrams (BDDs), inheriting their…
We consider the problem of designing distributed controllers to guarantee dissipativity of a networked system comprised of dynamically coupled subsystems. We require that the control synthesis is carried out locally at the subsystem-level,…
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…
This paper studies the synthesis of controllers for discrete-time, continuous state stochastic systems subject to omega-regular specifications using finite-state abstractions. We present a synthesis algorithm for minimizing or maximizing…
Modern cyber-physical systems often have a two-layered design, where the primary controller is AI-enabled or an analytical controller optimising some specific cost function. If the resulting control action is perceived as unsafe, a…
We present a tool-supported approach for the synthesis, verification and validation of the control software responsible for the safety of the human-robot interaction in manufacturing processes that use collaborative robots. In human-robot…