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Hamilton-Jacobi (HJ) reachability analysis has been developed over the past decades into a widely-applicable tool for determining goal satisfaction and safety verification in nonlinear systems. While HJ reachability can be formulated very…
Quantum information technologies require careful control for generating and preserving a desired target quantum state. The biggest practical obstacle is, of course, decoherence. Therefore, the reachability analysis, which in our scenario…
In this paper, we study the problem of computing a tight lower bound on the dimension of the strong structurally controllable subspace (SSCS) in networks with Laplacian dynamics. The bound is based on a sequence of vectors containing the…
Reachability analysis is important for studying optimal control problems and differential games, which are powerful theoretical tools for analyzing and modeling many practical problems in robotics, aircraft control, among other application…
In this work, we found a non trivial topology to achieve the controllability for linear and nonlinear system in finite or infinite time horizon. We give several examples illustrating this topologizing method for the controllability results.…
This paper studies near-controllability of a class of discrete-time bilinear systems via a root locus approach. A necessary and sufficient criterion for the systems to be nearly controllable is given. In particular, by using the root locus…
In this paper, we consider the structural stabilizability problem of undirected networks. More specifically, we are tasked to infer the stabilizability of an undirected network from its underlying topology, where the undirected networks are…
Several concepts on the measure of observability, reachability, and robustness are defined and illustrated for both linear and nonlinear control systems. Defined by using computational dynamic optimization, these concepts are applicable to…
Neural Networks (NNs) can provide major empirical performance improvements for robotic systems, but they also introduce challenges in formally analyzing those systems' safety properties. In particular, this work focuses on estimating the…
A joint characterisation of the controllability and observability of a particular kind of discrete system has been developed. The key idea of the procedure can be reduced to a correct choice of the sampling sequence. This freedom, owing to…
This article concerns the exact controllability of unitary groups on Hilbert spaces with unbounded control operator. It provides a necessary and sufficient condition not involving time which blends a resolvent estimate and an observability…
The objective of the paper is to investigate the approximate controllability property of a linear stochastic control system with values in a separable real Hilbert space. In a first step we prove the existence and uniqueness for the…
Reachability analysis provides formal guarantees for performance and safety properties of nonlinear control systems. Here, one aims to compute the backward reachable set (BRS) or tube (BRT) -- the set of states from which the system can be…
A method is presented to obtain an inner-approximation of the backward reachable set (BRS) of a given target tube, along with an admissible controller that maintains trajectories inside this tube. The proposed optimization algorithms are…
This paper introduces a novel approach to the optimal control of linear discrete-time systems subject to bounded disturbances. Our approach is based on the newly established duality between ellipsoidal approximations of reachable and hardly…
We introduce the concept of $\epsilon$-uncontrollability for random linear systems, i.e. linear system in which the usual matrices have been replaced by random matrices. We also estimate the $\epsilon$-uncontrollability in the case where…
Linear systems on Lie groups are a natural generalization of linear system on Euclidian spaces. For such systems, this paper studies controllability by taking in consideration the eigenvalues of an associated derivation D. When the state…
Designing provably safe control is a core problem in trustworthy autonomy. However, most prior work in this regard assumes either that the system dynamics are known or deterministic, or that the state and action space are finite,…
Motivated by applications in robotics, we investigate a discrete control system related Fibonacci sequence and we characterize its reachable set.
Given a linear system, we consider the problem of finding a small set of variables to affect with an input so that the resulting system is controllable. We show that this problem is NP-hard; indeed, we show that even approximating the…