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This work introduces a formulation of model predictive control (MPC) which adaptively reasons about the complexity of the model based on the task while maintaining feasibility and stability guarantees. Existing MPC implementations often…
Computer networks have been traditionally configured by humans using command-line interfaces. Some network abstractions have emerged in the last 10 years, but there is no easy way of comparing them to each other objectively. Therefore,…
We will present a new general framework for robust and adaptive control that allows for distributed and scalable learning and control of large systems of interconnected linear subsystems. The control method is demonstrated for a linear…
We construct compositional continuous approximations for an interconnection of infinitely many discrete-time switched systems. An approximation (known as abstraction) is itself a continuous-space system, which can be used as a replacement…
Translating continuous control system models into finite automata allows us to use powerful discrete tools to synthesize controllers for complex specifications. The abstraction construction step is unfortunately hamstrung by high runtime…
Level-sensitive latches are widely used in high- performance designs. For such circuits efficient statistical timing analysis algorithms are needed to take increasing process vari- ations into account. But existing methods solving this…
In recent times adaptive regulation of sampling rates has gained significant attention in research community and researchers has demonstrated it's effectiveness in embedded control applications from different perspectives. In low power…
Control systems that satisfy temporal logic specifications have become increasingly popular due to their applicability to robotic systems. Existing control methods, however, are computationally demanding, especially when the problem size…
Approximate computing (AC) is an emerging paradigm for energy-efficient computation. The basic idea of AC is to sacrifice high precision for low energy by allowing for hardware which only carries out "approximately correct" calculations.…
We address the safety verification and synthesis problems for real-time systems. We introduce real-time programs that are made of instructions that can perform assignments to discrete and real-valued variables. They are general enough to…
In remote control, efficient compression or representation of control signals is essential to send them through rate-limited channels. For this purpose, we propose an approach of sparse control signal representation using the compressive…
This work presents a new sufficient condition for synthesizing nonlinear controllers that yield bounded closed-loop tracking error transients despite the presence of unmatched uncertainties that are concurrently being learned online. The…
Finite-state abstractions (a.k.a. symbolic models) present a promising avenue for the formal verification and synthesis of controllers in continuous-space control systems. These abstractions provide simplified models that capture the…
We investigate weakly constrained codes, in which specific patterns occur with prescribed frequencies rather than being strictly forbidden as in conventional constrained coding. We propose a capacity-achieving construction of a weakly…
In previous work, linear time-invariant event-triggered control (ETC) systems were abstracted to finite-state systems that capture the original systems' sampling behaviour. It was shown that these abstractions can be employed for scheduling…
Control synthesis under constraints is at the forefront of research on autonomous systems, in part due to its broad application from low-level control to high-level planning, where computing control inputs is typically cast as a constrained…
We present abstraction-refinement algorithms for model checking safety properties of timed automata. The abstraction domain we consider abstracts away zones by restricting the set of clock constraints that can be used to define them, while…
Programmability, performance portability, and resource efficiency have emerged as critical challenges in harnessing complex and diverse architectures today to obtain high performance and energy efficiency. While there is abundant research,…
Formal control synthesis approaches over stochastic systems have received significant attention in the past few years, in view of their ability to provide provably correct controllers for complex logical specifications in an automated…
In temporal planning, many different temporal network formalisms are used to model real world situations. Each of these formalisms has different features which affect how easy it is to determine whether the underlying network of temporal…