Related papers: Formal controller synthesis for hybrid systems usi…
Switching controllers play a pivotal role in directing hybrid systems (HSs) towards the desired objective, embodying a ``correct-by-construction'' approach to HS design. Identifying these objectives is thus crucial for the synthesis of…
We introduce a hybrid (discrete--continuous) safety controller which enforces strict state and input constraints on a system---but only acts when necessary, preserving transparent operation of the original system within some safe region of…
In this article, we consider the problem of synthesizing switching controllers for temporal properties through the composition of simple primitive reach-while-stay (RWS) properties. Reach-while-stay properties specify that the system states…
Deep learning has had a far reaching impact in robotics. Specifically, deep reinforcement learning algorithms have been highly effective in synthesizing neural-network controllers for a wide range of tasks. However, despite this empirical…
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…
With the primary objective of human-robot interaction being to support humans' goals, there exists a need to formally synthesize robot controllers that can provide the desired service. Synthesis techniques have the benefit of providing…
We extend a template-based approach for synthesizing switching controllers for semi-algebraic hybrid systems, in which all expressions are polynomials. This is achieved by combining a QE (quantifier elimination)-based method for generating…
In this paper, we consider a control synthesis problem for a class of polynomial dynamical systems subject to bounded disturbances and with input constraints. More precisely, we aim at synthesizing at the same time a controller and an…
We present a technique for learning control Lyapunov (potential) functions, which are used in turn to synthesize controllers for nonlinear dynamical systems. The learning framework uses a demonstrator that implements a black-box, untrusted…
Synthetic data has gained significant momentum thanks to sophisticated machine learning tools that enable the synthesis of high-dimensional datasets. However, many generation techniques do not give the data controller control over what…
The goal of logical controller synthesis is to automatically compute a control strategy that regulates the discrete, event-driven behavior of a given plant s.t. a temporal logic specification holds over all remaining traces. Standard…
The objective of this paper is to solve the controller synthesis problem for bisimulation equivalence in a wide variety of scenarios including discrete-event systems, nonlinear control systems, behavioral systems, hybrid systems and many…
Designing controllers with provable formal guarantees has become an urgent requirement for cyber-physical systems in safety-critical scenarios. Beyond addressing scalability in high-dimensional implementations, controller synthesis…
Safe control with guarantees generally requires the system model to be known. It is far more challenging to handle systems with uncertain parameters. In this paper, we propose a generic algorithm that can synthesize and verify safe…
We propose novel controller synthesis techniques for probabilistic systems modelled using stochastic two-player games: one player acts as a controller, the second represents its environment, and probability is used to capture uncertainty…
This paper develops a novel control synthesis method for safe stabilization of control-affine systems as a Differential Complementarity Problem (DCP). Our design uses a control Lyapunov function (CLF) and a control barrier function (CBF) to…
Learning controllers merely based on a performance metric has been proven effective in many physical and non-physical tasks in both control theory and reinforcement learning. However, in practice, the controller must guarantee some notion…
A controller synthesis method for state- and input-constrained nonlinear systems is presented that seeks continuous piecewise affine (CPA) Lyapunov-like functions and controllers simultaneously. Non-convex optimization problems are…
This paper proposes a dynamic quantum-assisted co-design framework for nonlinear closed-loop systems in which controller parameters and Lyapunov-certificate parameters are redesigned jointly at successive decision epochs. Unlike…
We have witnessed the emergence of several controller parameterizations and the corresponding synthesis methods, including Youla, system level, input-output, and many other new proposals. Meanwhile, under the same synthesis method, there…