Related papers: Formal Synthesis of Stochastic Systems via Control…
Control barrier functions (CBFs) offer an efficient framework for designing real-time safe controllers. However, CBF-based controllers can be short-sighted, resulting in poor performance, a behaviour which is aggravated in uncertain…
A barrier certificate often serves as an inductive invariant that isolates an unsafe region from the reachable set of states, and hence is widely used in proving safety of hybrid systems possibly over an infinite time horizon. We present a…
There has been significant recent interest in devising verification techniques for learning-enabled controllers (LECs) that manage safety-critical systems. Given the opacity and lack of interpretability of the neural policies that govern…
In this paper, we investigate the problem of Model Predictive Control (MPC) of dynamic systems for high-level specifications described by Signal Temporal Logic (STL) formulae. Recent works show that MPC has the great potential in handling…
We propose a simple safety filter design for stochastic discrete-time systems based on piecewise affine probabilistic control barrier functions, providing an appealing balance between modeling flexibility and computational complexity. Exact…
Formal safety guarantees on the synthesis of controllers for stochastic systems can be obtained using correct-by-design approaches. These approaches often use abstractions as finite-state Markov Decision Processes. As the state space of…
When deployed in the real world, safe control methods must be robust to unstructured uncertainties such as modeling error and external disturbances. Typical robust safety methods achieve their guarantees by always assuming that the…
Discrete-time Control Barrier Functions (DTCBFs) are commonly utilized in the literature as a powerful tool for synthesizing control policies that guarantee safety of discrete-time dynamical systems. However, the systematic synthesis of…
A numerical method is proposed for a class of stochastic control problems including singular behavior. This method solves an infinite-dimensional linear program equivalent to the stochastic control problem using a finite element type…
We present a robust control framework for time-critical systems in which satisfying real-time constraints robustly is of utmost importance for the safety of the system. Signal Temporal Logic (STL) provides a formal means to express a large…
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…
This paper explores the theoretical limits of using discrete abstractions for nonlinear control synthesis. More specifically, we consider the problem of deciding continuous-time control with temporal logic specifications. We prove that…
In this paper, we study a safe control design for dynamical systems in the presence of uncertainty in a dynamical environment. The worst-case error approach is considered to formulate robust Control Barrier Functions (CBFs) in an…
The fundamental idea of this work is to synthesize reactive controllers such that closed-loop execution trajectories of the system satisfy desired specifications that ensure correct system behaviors, while optimizing a desired performance…
The parameter synthesis problem for parametric timed automata is undecidable in general even for very simple reachability properties. In this paper we introduce restrictions on parameter valuations under which the parameter synthesis…
Recent advances in Deep Machine Learning have shown promise in solving complex perception and control loops via methods such as reinforcement and imitation learning. However, guaranteeing safety for such learned deep policies has been a…
This paper presents an automatic formal controller synthesis method for nonlinear sampled-data systems with safety and reachability specifications. Fundamentally, the presented method is not restricted to polynomial systems and controllers.…
Safety is a fundamental requirement of control systems. Control Barrier Functions (CBFs) are proposed to ensure the safety of the control system by constructing safety filters or synthesizing control inputs. However, the safety guarantee…
We consider robust control synthesis for linear systems with complex specifications that are affected by uncertain disturbances. This work is motivated by autonomous systems interacting with partially known, time-varying environments. Given…
The reachable sets of nonlinear control systems can in general only be numerically approximated, and are often very expensive to calculate. In this paper, we propose an algorithm that tracks only the boundaries of the reachable sets and…