Related papers: Compositional Construction of Control Barrier Func…
This paper presents a fully automated procedure for controller synthesis for multi-agent systems under coupled constraints. Each agent has dynamics consisting of two terms: the first one models the coupled constraints and the other one is…
Control barrier functions (CBFs) are a powerful tool for the constrained control of nonlinear systems; however, the majority of results in the literature focus on systems subject to a single CBF constraint, making it challenging to…
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…
A number of coordinated behaviors have been proposed for achieving specific tasks for multi-robot systems. However, since most applications require more than one such behavior, one needs to be able to compose together sequences of behaviors…
This paper introduces integral control barrier functions (I-CBFs) as a means to enable the safety-critical integral control of nonlinear systems. Importantly, I-CBFs allow for the holistic encoding of both state constraints and input bounds…
In this work, we derive conditions under which compositional abstractions of networks of stochastic hybrid systems can be constructed using the interconnection topology and joint dissipativity-type properties of subsystems and their…
This paper studies control synthesis for a general class of nonlinear, control-affine dynamical systems under additive disturbances and state-estimation errors. We enforce forward invariance of static and dynamic safe sets and convergence…
Balancing safety and performance is one of the predominant challenges in modern control system design. Moreover, it is crucial to robustly ensure safety without inducing unnecessary conservativeness that degrades performance. In this work…
Deadline misses are more common in real-world systems than one may expect. The weakly-hard task model has become a standard abstraction to describe and analyze how often these misses occur, and has been especially used in control…
We introduce an automated, formal, counterexample-based approach to synthesise Barrier Certificates (BC) for the safety verification of continuous and hybrid dynamical models. The approach is underpinned by an inductive framework: this is…
It is often difficult to correctly implement a Boolean controller for a complex system, especially when concurrency is involved. Yet, it may be easy to formally specify a controller. For instance, for a pipelined processor it suffices to…
We present a controller synthesis algorithm for reach-avoid problems for piecewise linear discrete-time systems. Our algorithm relies on SMT solvers and in this paper we focus on piecewise constant control strategies. Our algorithm…
This paper is concerned with a compositional approach for constructing finite Markov decision processes of interconnected discrete-time stochastic control systems. The proposed approach leverages the interconnection topology and a notion of…
Humans and animals developed a sophisticated motor control apparatus and there is much evidence that it has a modular structure. The modularity offers a range of benefits, e.g. ability to learn dissociable motion styles without interference…
A formal description of a Cyber-Physical system should include a rigorous specification of the computational and physical components involved, as well as their interaction. Such a description, thus, lends itself to a compositional model…
This work presents a theoretical framework for the safety-critical control of time delay systems. The theory of control barrier functions, that provides formal safety guarantees for delay-free systems, is extended to systems with state…
Collecting robotic manipulation data is expensive, making it impractical to acquire demonstrations for the combinatorially large space of tasks that arise in multi-object, multi-robot, and multi-environment settings. While recent generative…
General purpose correct-by-construction synthesis methods are limited to systems with low dimensionality or simple specifications. In this work we consider highly symmetrical counting problems and exploit the symmetry to synthesize provably…
Interconnected systems such as power systems and chemical processes are often required to satisfy safety properties in the presence of faults and attacks. Verifying safety of these systems, however, is computationally challenging due to…
In this paper, we consider the problem of controller design using approximately bisimilar abstractions with an emphasis on safety and reachability specifications. We propose abstraction-based approaches to solve both classes of problems. We…