Related papers: Continuous and discrete abstractions for planning,…
Sums-of-squares (SOS) optimization is a promising tool to synthesize certifiable controllers for nonlinear dynamical systems. Building upon prior works, we demonstrate that SOS can synthesize dynamic controllers with bounded suboptimal…
This work considers the infinite-time discounted optimal control problem for continuous time input-affine polynomial dynamical systems subject to polynomial state and box input constraints. We propose a sequence of sum-of-squares (SOS)…
Reach-avoid analysis is fundamental to reasoning about the safety and goal-reaching behavior of dynamical systems, and serves as a foundation for specifying and verifying more complex control objectives. This paper introduces a reach-avoid…
Seamless model based development aims to use models during all phases of the development process of a system. During the development process in a component-based approach, components of a system are described at qualitatively differing…
An abstraction can be used to relate two structural causal models representing the same system at different levels of resolution. Learning abstractions which guarantee consistency with respect to interventional distributions would allow one…
The abstraction of dynamical systems is a powerful tool that enables the design of feedback controllers using a correct-by-design framework. We investigate a novel scheme to obtain data-driven abstractions of discrete-time stochastic…
With the increasing ubiquity of safety-critical autonomous systems operating in uncertain environments, there is a need for mathematical methods for formal verification of stochastic models. Towards formally verifying properties of…
We present two frameworks for structure-preserving model order reduction of interconnected subsystems, improving tractability of the reduction methods while ensuring stability and accuracy bounds of the reduced interconnected model. Instead…
Abstraction or substitution and aggregation are the most widely used simulation model simplification operations. Abstraction involves replacing subsystems within a discrete-event simulation (DES) with one or more quantities - typically…
This paper proposes a finitely terminating algorithm to solve reach-and-stay control problems for nonlinear systems. The algorithm is guaranteed to return a control strategy if the specification is robustly realizable. Such a feature is…
Approximate simulation, an extension of simulation relations from formal methods to continuous systems, is a powerful tool for hierarchical control of complex systems. Finding an approximate simulation relation between the full "concrete"…
A key question that arises in rigorous analysis of cyberphysical systems under attack involves establishing whether or not the attacked system deviates significantly from the ideal allowed behavior. This is the problem of deciding whether…
At its core, abstraction is the process of generalizing from specific instances to broader concepts or models, with the primary objective of reducing complexity while preserving properties essential to the intended purpose. It is…
Humans are capable of abstracting away irrelevant details when studying problems. This is especially noticeable for problems over grid-cells, as humans are able to disregard certain parts of the grid and focus on the key elements important…
This paper presents a fully automated procedure for controller synthesis for a general class of multi-agent systems under coupling constraints. Each agent is modeled with dynamics consisting of two terms: the first one models the coupling…
Developing software for scientific applications that require the integration of diverse types of computing, instruments, and data present challenges that are distinct from commercial software. These applications require scale, and the need…
The practical impact of abstraction-based controller synthesis methods is currently limited by the immense computational effort for obtaining abstractions. In this note we focus on a recently proposed method to compute abstractions whose…
One of the desirable objectives in feedback control design is to formulate and solve the design problem as an optimisation problem that is convex, so that an optimal solution can be found efficiently. Unfortunately many control design…
This paper presents a novel free-hand sketch synthesis approach addressing explicit abstraction control in class-conditional and photo-to-sketch synthesis. Abstraction is a vital aspect of sketches, as it defines the fundamental distinction…
Privacy is a crucial concern in many systems in addition to their given tasks. We consider a new notion of privacy based on beliefs of the system states, which is closely related to opacity in discrete event systems. To guarantee the…