Related papers: Compositional Synthesis of Decentralized Robust Se…
In this paper, we focus on the problem of compositional synthesis of controllers enforcing signal temporal logic (STL) tasks over a class of continuous-time nonlinear interconnected systems. By leveraging the idea of funnel-based control,…
End-to-end engineering design pipelines, in which designs are evaluated using concurrently defined optimal controllers, are becoming increasingly common in practice. To discover designs that perform well even under the misspecification of…
This paper is concerned with the design of a linear control law for linear systems with stationary additive disturbances. The objective is to find a state feedback gain that minimizes a quadratic stage cost function, while observing chance…
This work presents a computationally efficient approach to data-driven robust contracting controller synthesis for polynomial control-affine systems based on a sum-of-squares program. In particular, we consider the case in which a system…
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…
Given the advances in reactive synthesis, it is a natural next step to consider more complex multi-process systems. Distributed synthesis, however, is not yet scalable. Compositional approaches can be a game changer. Here, the challenge is…
Designing large-scale control systems to satisfy complex specifications is hard in practice, as most formal methods are limited to systems of modest size. Contract theory has been proposed as a modular alternative to formal methods in…
Current state-of-the-art correct-by-design controllers are designed for full-state measurable systems. This work first extends the applicability of correct-by-design controllers to partially observable LTI systems. Leveraging 2nd order…
In recent years, formal methods have been extensively used in the design of autonomous systems. By employing mathematically rigorous techniques, formal methods can provide fully automated reasoning processes with provable safety guarantees…
Controller synthesis is a theoretical approach to the systematic design of discrete event systems. It constructs a controller to provide feedback and control to the system, ensuring it meets specified control specifications. Traditional…
The inherent uncertainty of dynamic environments poses significant challenges for modeling robot behavior, particularly in tasks such as collision avoidance. This paper presents an online controller synthesis framework tailored for robots…
This paper proposes a model predictive controller for discrete-time linear systems with additive, possibly unbounded, stochastic disturbances and subject to chance constraints. By computing a polytopic probabilistic positively invariant set…
Controller synthesis techniques for continuous systems with respect to temporal logic specifications typically use a finite-state symbolic abstraction of the system model. Constructing this abstraction for the entire system is…
This paper is concerned with a compositional scheme for the construction of control barrier certificates for interconnected discrete-time stochastic systems. The main objective is to synthesize switching control policies against…
To provide robustness of distributed model predictive control (DMPC), this work proposes a robust DMPC formulation for discrete-time linear systems subject to unknown-but-bounded disturbances. Taking advantage of the structure of certain…
In this paper, we propose a compositional framework for the synthesis of safety controllers for networks of partially-observed discrete-time stochastic control systems (a.k.a. continuous-space POMDPs). Given an estimator, we utilize a…
For an unknown linear system, starting from noisy open-loop input-state data collected during a finite-length experiment, we directly design a linear feedback controller that guarantees robust invariance of a given polyhedral set of the…
As autonomy becomes prevalent in many applications, ranging from recommendation systems to fully autonomous vehicles, there is an increased need to provide safety guarantees for such systems. The problem is difficult, as these are large,…
Safe control with guarantees generally requires the system model to be known. It is far more challenging to handle systems with uncertain parameters. In this paper, we propose a generic algorithm that can synthesize and verify safe…
Recent advances in learning for control allow to synthesize vehicle controllers from learned system dynamics and maintain robust stability guarantees. However, no approach is well-suited for training linear time-invariant (LTI) controllers…