Related papers: DCSYNTH: Guided Reactive Synthesis with Soft Requi…
We propose a convex distributed optimization algorithm for synthesizing robust controllers for large-scale continuous time systems subject to exogenous disturbances. Given a large scale system, instead of solving the larger centralized…
We consider the problem of synthesizing a dynamic output-feedback controller for a linear system, using solely input-output data corrupted by measurement noise. To handle input-output data, an auxiliary representation of the original system…
Reactive synthesis supports designers by automatically constructing correct hardware from declarative specifications. Synthesis algorithms usually compute a strategy, and then construct a circuit that implements it. In this work, we study…
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…
Controllable image synthesis with user scribbles has gained huge public interest with the recent advent of text-conditioned latent diffusion models. The user scribbles control the color composition while the text prompt provides control…
This paper addresses the problem of finite horizon constrained robust optimal control for nonlinear systems subject to norm-bounded disturbances. To this end, the underlying uncertain nonlinear system is decomposed based on a first-order…
We propose a real-time method for reactive motion synthesis based on the known trajectory of input character, predicting instant reactions using only historical, user-controlled motions. Our method handles the uncertainty of future…
This paper presents an algorithmic framework for control synthesis of continuous dynamical systems subject to signal temporal logic (STL) specifications. We propose a novel algorithm to obtain a time-partitioned finite automaton from an STL…
In this paper, a method is presented to synthesize neural network controllers such that the feedback system of plant and controller is dissipative, certifying performance requirements such as L2 gain bounds. The class of plants considered…
Creating expressive character animations is labor-intensive, requiring intricate manual adjustment of animators across space and time. Previous works on controllable motion generation often rely on a predefined set of dense spatio-temporal…
This paper addresses the problem of optimally controlling nonlinear systems with norm-bounded disturbances and parametric uncertainties while robustly satisfying constraints. The proposed approach jointly optimizes a nominal nonlinear…
The current limitation in the synthesis of distributed $\mathscr{H}_2$ controllers for linear interconnected systems is scalability due to non-convex or unstructured synthesis conditions. In this paper we develop convex and structured…
In this thesis, the synthesis of correct-by-construction controllers for robots assisting in Search and Rescue (SAR) is considered. In recent years, the development of robots assisting in disaster mitigation in urban environments has been…
In an era of rapidly advancing data-driven applications, there is a growing demand for data in both research and practice. Synthetic data have emerged as an alternative when no real data is available (e.g., due to privacy regulations).…
Optimal controller synthesis is a bilinear problem and hence difficult to solve in a computationally efficient manner. We are able to resolve this bilinearity for systems with delay by first convexifying the problem in infinite-dimensions -…
Specifications for reactive systems often consist of environment assumptions and system guarantees. An implementation should not only be correct, but also robust in the sense that it behaves reasonably even when the assumptions are…
In this paper, we consider the notion of resilience of a dynamical system, defined by the maximum disturbance a controlled dynamical system can withstand while satisfying given temporal logic specifications. Given a dynamical system and a…
We consider the feedback design for stabilizing a rigid body system by making and breaking multiple contacts with the environment without prespecifying the timing or the number of occurrence of the contacts. We model such a system as a…
We consider the problem of synthesizing a program given a probabilistic specification of its desired behavior. Specifically, we study the recent paradigm of distribution-guided inductive synthesis (DIGITS), which iteratively calls a…
There is an increasing demand for controller design techniques capable of addressing the complex requirements of todays embedded applications. This demand has sparked the interest in symbolic control where lower complexity models of control…