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In this paper, we propose the frameworks of generalized performance evaluation and generalized controller synthesis. To this end, we give a true concurrent process calculus as the model of systems, and present a lattice-valued performance…
We study the problem of synthesizing implementations from temporal logic specifications that need to work correctly in all environments that can be represented as transducers with a limited number of states. This problem was originally…
As robots gain capabilities to enter our human-centric world, they require formalism and algorithms that enable smart and efficient interactions. This is challenging, especially for robotic manipulators with complex tasks that may require…
Optimal control synthesis in stochastic systems with respect to quantitative temporal logic constraints can be formulated as linear programming problems. However, centralized synthesis algorithms do not scale to many practical systems. To…
This paper studies the interaction between knowledge, time and coordination in systems in which timing information is available. Necessary conditions are given for the causal structure in coordination problems consisting of orchestrating a…
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…
Modal synthesis is an important area of physical modeling whose exploration in the past has been held back by a large number of control parameters, the scarcity of general-purpose design tools and the difficulty of obtaining the…
Reactive synthesis from high-level specifications that combine hard constraints expressed in Linear Temporal Logic LTL with soft constraints expressed by discounted-sum (DS) rewards has applications in planning and reinforcement learning.…
This paper describes a way to improve the scalability of program synthesis by exploiting modularity: larger programs are synthesized from smaller programs. The key issue is to make each "larger-created-from-smaller" synthesis sub-problem be…
This paper presents scalable controller synthesis methods for heterogeneous and partially heterogeneous systems. First, heterogeneous systems composed of different subsystems that are interconnected over a directed graph are considered.…
This paper is concerned with the synthesis of RC electrical circuits from physics-based supercapacitor models describing conservation and diffusion relationships. The proposed synthesis procedure uses model discretisation, linearisation,…
Program synthesis is the process of automatically translating a specification into computer code. Traditional synthesis settings require a formal, precise specification. Motivated by computer education applications where a student learns to…
Executing a Golog program on an actual robot typically requires additional steps to account for hardware or software details of the robot platform, which can be formulated as constraints on the program. Such constraints are often temporal,…
We consider the problem of synthesizing robust disturbance feedback policies for systems performing complex tasks. We formulate the tasks as linear temporal logic specifications and encode them into an optimization framework via…
Computer networks are hard to manage. Given a set of high-level requirements (e.g., reachability, security), operators have to manually figure out the individual configuration of potentially hundreds of devices running complex distributed…
This paper presents a fully automated procedure for controller synthesis for multi-agent systems under the presence of uncertainties. We model the motion of each of the $N$ agents in the environment as a Markov Decision Process (MDP) and we…
We present an algorithmic method for the quantitative, performance-aware synthesis of concurrent programs. The input consists of a nondeterministic partial program and of a parametric performance model. The nondeterminism allows the…
Synthesizing multi-character interactions is a challenging task due to the complex and varied interactions between the characters. In particular, precise spatiotemporal alignment between characters is required in generating close…
This paper presents a systematic method for synthesizing a Control Barrier Function (CBF) that encodes predictive information into a CBF. Unlike other methods, the synthesized CBF can account for changes and time-variations in the…
A fundamental question in system design is to decide how much of the design of one component must be known in order to successfully design another component of the system. We study this question in the setting of reactive synthesis, where…