Related papers: Continuous and discrete abstractions for planning,…
A proper abstraction of a large-scale linear consensus network with a dense coupling graph is one whose number of coupling links is proportional to its number of subsystems and its performance is comparable to the original network. Optimal…
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…
We present a semantics based framework for analysing the quantitative behaviour of programs with regard to resource usage. We start from an operational semantics equipped with costs. The dioid structure of the set of costs allows for…
In this work, we derive conditions under which abstractions of networks of stochastic hybrid systems can be constructed compositionally. Proposed conditions leverage the interconnection topology, switching randomly between P different…
Currently, most existing approaches for the design of Automated Driving System (ADS) scenarios focus on the description at one particular abstraction level typically the most detailed one. This practice often removes information at higher…
In this paper we investigate the optimal controller synthesis problem, so that the system under the controller can reach a specified target set while satisfying given constraints. Existing model predictive control (MPC) methods learn from a…
A common technique for checking properties of complex state machines is to build a finite abstraction then check the property on the abstract system -- where a passing check on the abstract system is only transferred to the original system…
We present an efficient, accurate, and robust method for simulation of dense suspensions of deformable and rigid particles immersed in Stokesian fluid in two dimensions. We use a well-established boundary integral formulation for the…
We propose a nonlinear model predictive control (NMPC) framework based on a direct optimal control method that ensures continuous-time constraint satisfaction and accurate evaluation of the running cost, without compromising computational…
This paper addresses the problem of decentralized abstractions for multiple mobile manipulators with 2nd order dynamics. In particular, we propose decentralized controllers for the navigation of each agent among predefined regions of…
The paper addresses the issue of reliability of complex embedded control systems in the safety-critical environment. In this paper, we propose a novel approach to design controller that (i) guarantees the safety of nonlinear physical…
In this work, we propose a data-driven approach for the construction of finite abstractions (a.k.a., symbolic models) for discrete-time deterministic control systems with unknown dynamics. We leverage notions of so-called alternating…
Mathematical descriptions of flow phenomena usually come in the form of partial differential equations. The differential operators used in these equations may have properties such as symmetry, skew-symmetry, positive or negative…
Automated techniques for rigorous floating-point round-off error analysis are important in areas including formal verification of correctness and precision tuning. Existing tools and techniques, while providing tight bounds, fail to analyze…
Flexible manufacturing has been the trend in the area of the modern chemical process nowadays. One of the essential characteristics of flexible manufacturing is to track time-varying target trajectories (e.g. diversity and quantity of…
Aerial autonomous machines (Drones) has a plethora of promising applications and use cases. While the popularity of these autonomous machines continues to grow, there are many challenges, such as endurance and agility, that could hinder the…
Reliable controllers with high flexibility and performance are necessary for the control of intricate, advanced, and expensive systems such as aircraft, marine vessels, automotive vehicles, and satellites. Meanwhile, control allocation has…
We propose a method for automatically generating abstract transformers for static analysis by abstract interpretation. The method focuses on linear constraints on programs operating on rational, real or floating-point variables and…
When a system commits to a hypothesis, much of the evidential structure behind that commitment is lost to compression. Standard accounts assume that selected content and scalar confidence suffice for downstream control. This paper argues…
We consider the problem of ensuring the safety of nonlinear control systems under adversarial signals. Using Lyapunov based reachability analysis, we first give sufficient conditions to assess safety, i.e., to guarantee that the states of…