Related papers: Fast algorithms for handling diagonal constraints …
Recently, the centroidal momentum dynamics has received substantial attention to plan dynamically consistent motions for robots with arms and legs in multi-contact scenarios. However, it is also non convex which renders any optimization…
Model order reduction involves constructing a reduced-order approximation of a high-order model while retaining its essential characteristics. This reduced-order model serves as a substitute for the original one in various applications such…
We consider the setting of component-based design for real-time systems with critical timing constraints. Based on our earlier work, we propose a compositional specification theory for timed automata with I/O distinction, which supports…
In scheduling problems, deterministic task durations are often assumed. This usually does not capture reality and may lead to schedules that are not robust to (small) changes to these task lengths. The use of stochastic task durations…
Fixed-parameter tractable (FPT) algorithms have been successfully applied to many intractable problems -- with a focus on decision and optimization problems. Their aim is to confine the exponential explosion to some parameter, while the…
Temporal dependencies between customer visits, such as synchronization constraints, pose a fundamental challenge in vehicle routing. These dependencies, which arise in applications such as home healthcare routing, aircraft scheduling, and…
We consider distributed systems with an arbitrary number of processes, modelled by timed automata that communicate through location guards: a process can take a guarded transition if at least one other process is in a given location. In…
A notion of alternating timed automata is proposed. It is shown that such automata with only one clock have decidable emptiness problem over finite words. This gives a new class of timed languages which is closed under boolean operations…
This paper proposes a specification-guided framework for control of nonlinear systems with linear temporal logic (LTL) specifications. In contrast with well-known abstraction-based methods, the proposed framework directly characterizes the…
Timed automata (TA) have been widely adopted as a suitable formalism to model time-critical systems. Furthermore, contemporary model-checking tools allow the designer to check whether a TA complies with a system specification. However, the…
Hybrid automata are a natural framework for modeling and analyzing systems which exhibit a mixed discrete continuous behaviour. However, the standard operational semantics defined over such models implicitly assume perfect knowledge of the…
Priced timed automata provide a natural model for quantitative analysis of real-time systems and have been successfully applied in various scheduling and planning problems. The optimal reachability problem for linearly-priced timed automata…
Timed pushdown automata are pushdown automata extended with a finite set of real-valued clocks. Additionaly, each symbol in the stack is equipped with a value representing its age. The enabledness of a transition may depend on the values of…
Under the assumption of no-arbitrage, the pricing of American and Bermudan options can be casted into optimal stopping problems. We propose a new adaptive simulation based algorithm for the numerical solution of optimal stopping problems in…
We study timed systems in which some timing features are unknown parameters. Parametric timed automata (PTAs) are a classical formalism for such systems but for which most interesting problems are undecidable. Notably, the parametric…
We consider the problem of planning a collision-free path of a robot in the presence of risk zones. The robot is allowed to travel in these zones but is penalized in a super-linear fashion for consecutive accumulative time spent there. We…
Sampled semantics of timed automata is a finite approximation of their dense time behavior. While the former is closer to the actual software or hardware systems with a fixed granularity of time, the abstract character of the latter makes…
Many safety-critical real-world problems, such as autonomous driving and collaborative robots, are of a distributed multi-agent nature. To optimize the performance of these systems while ensuring safety, we can cast them as distributed…
We consider the problem of determining the existence of a sequence of matrices driving a discrete-time consensus system to consensus. We transform this problem into one of the existence of a product of the transition (stochastic) matrices…
This paper presents a method based on linear programming for trajectory planning of automated vehicles, combining obstacle avoidance, time scheduling for the reaching of waypoints and time-optimal traversal of tube-like road segments.…