Related papers: A symbolic approach to the self-triggered design f…
Stochastic switched systems are a relevant class of stochastic hybrid systems with probabilistic evolution over a continuous domain and control-dependent discrete dynamics over a finite set of modes. In the past few years several different…
This paper addresses the problem of computing controllers that are correct by design for safety-critical systems and can provably satisfy (complex) functional requirements. We develop new methods for models of systems subject to both…
Several methods have been proposed recently to learn neural network (NN) controllers for autonomous agents, with unknown and stochastic dynamics, tasked with complex missions captured by Linear Temporal Logic (LTL). Due to the…
Controller synthesis techniques for continuous systems with respect to temporal logic specifications typically use a finite-state symbolic abstraction of the system. Constructing this abstraction for the entire system is computationally…
Feedback control algorithms traditionally rely on periodic execution on digital platforms. While this simplifies design and analysis, it often leads to inefficient resource usage (e.g., CPU, network bandwidth) in embedded control and shared…
As control systems grow in complexity, abstraction-based methods have become essential for designing controllers with formal guarantees. However, a key limitation of these methods is their reliance on discrete-time models, typically…
We present novel results on the solution of a class of leavable, undiscounted optimal control problems in the minimax sense for nonlinear, continuous-state, discrete-time plants. The problem class includes entry-(exit-)time problems as well…
Most control systems run on digital hardware with limited communication resources. This work develops self-triggered control for linear systems where sensors update independently (asynchronous measurements). The controller computes an…
We consider a compositional construction of approximate abstractions of interconnected control systems. In our framework, an abstraction acts as a substitute in the controller design process and is itself a continuous control system. The…
This paper proposes a novel learning architecture for acquiring generalizable high-level symbolic skills from a few unlabeled low-level skill trajectory demonstrations. The architecture involves neural networks for symbol discovery and…
In this paper, we investigate the problem of designing event-triggered controllers for containing epidemic processes in complex networks. We focus on a deterministic susceptible-infected-susceptible (SIS) model, which is one of the…
This paper investigates the design of self-triggered controllers for networked control systems (NCSs), where the dynamics of the plant is \textit{unknown} apriori. To deal with the unknown transition dynamics, we employ the Gaussian process…
We present an abstraction and refinement methodology for the automated controller synthesis to enforce general predefined specifications. The designed controllers require quantized (or symbolic) state information only and can be interfaced…
In this paper, we provide a compositional methodology for constructing symbolic models for networks of discrete-time switched systems. We first define a notion of so-called augmented-storage functions to relate switched subsystems and their…
Discrete abstractions have become a standard approach to assist control synthesis under complex specifications. Most techniques for the construction of a discrete abstraction for a continuous-time system require time-space discretization of…
Assistive robotic systems have shown growing potential to improve the quality of life of those with disabilities. As researchers explore the automation of various caregiving tasks, considerations for how the technology can still preserve…
In this manuscript, we investigate symbolic abstractions that capture the behavior of piecewise-affine systems under input constraints and bounded external noise. This is accomplished by considering local affine feedback controllers that…
We propose a method to construct finite-state reactive controllers for systems whose interactions with their adversarial environment are modeled by infinite-duration two-player games over (possibly) infinite graphs. The proposed method…
Unnecessary communication and computation in the periodic execution of control tasks lead to over-provisioning in hardware design (or underexploitation in hardware utilization) in control applications, such as networked control systems. To…
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…