Related papers: Formal controller synthesis for hybrid systems usi…
In this paper, we propose a compositional framework for the synthesis of safety controllers for networks of partially-observed discrete-time stochastic control systems (a.k.a. continuous-space POMDPs). Given an estimator, we utilize a…
We present verifiable conditions for synthesizing a single smooth Lyapunov function that certifies both asymptotic stability and safety under bounded controls. These sufficient conditions ensure the strict compatibility of a control barrier…
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…
We introduce the concept of structured synthesis for Markov decision processes where the structure is induced from finitely many pre-specified options for a system configuration. The resulting synthesis problem is in general a nonlinear…
Controller design for nonlinear systems with Control Lyapunov Function (CLF) based quadratic programs has recently been successfully applied to a diverse set of difficult control tasks. These existing formulations do not address the gap…
This paper presents a novel approach to including non-instantaneous discrete control transitions in the linear hybrid automaton approach to simulation and verification of hybrid control systems. In this paper we study the control of a…
In this paper, we focus on mitigating the computational complexity in abstraction-based controller synthesis for interconnected control systems. To do so, we provide a compositional framework for the construction of abstractions for…
This paper investigates the synthesis of robust controllers from logical specification of regular properties given in an interval temporal logic QDDC. Our specification encompasses both hard robustness and soft robustness. Here, hard…
Hybrid metaheuristics are powerful techniques for solving difficult optimization problems that exploit the strengths of different approaches in a single implementation. For algorithm designers, however, creating hybrid metaheuristic…
Ensuring constraint satisfaction in large-scale systems with hard constraints is vital in many safety critical systems. The challenge is to design controllers that are efficiently synthesized offline, easily implementable online, and…
We present an approach to automatically synthesize synchronized models from lightweight formal specifications. Our approach takes as input a specification of a distributed system along with a global linear time constraint, which must be…
The paper presents a novel approach to synthesize robust controllers for nonlinear systems along perturbed trajectories. The approach linearizes the system with respect to a reference trajectory. In contrast to existing methods rooted in…
In this paper, a method to synthesize controllers using finite time convergence control barrier functions guided by linear temporal logic specifications for continuous time multi-agent dynamical systems is proposed. Finite time convergence…
We develop an optimization-free framework for safe stabilization of single-input control-affine nonlinear systems with a given control Lyapunov function (CLF) and a given control barrier function (CBF), where the desired equilibrium lies in…
This work introduces a controller synthesis method via system level synthesis for nonlinear systems characterized by polynomial dynamics. The resulting framework yields finite impulse response, time-invariant, closed-loop transfer functions…
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…
We formalize synthesis of shared control protocols with correctness guarantees for temporal logic specifications. More specifically, we introduce a modeling formalism in which both a human and an autonomy protocol can issue commands to a…
We demonstrate the use of a new, control-oriented notion of finite state approximation for a particular class of hybrid systems. Specifically, we consider the problem of designing a stabilizing binary output feedback switching controller…
This paper studies data-driven stabilization of a class of unknown polynomial systems using data corrupted by bounded noise. Existing work addressing this problem has focused on designing a controller and a Lyapunov function so that a…
We present a new program synthesis approach that combines an encoder-decoder based synthesis architecture with a differentiable program fixer. Our approach is inspired from the fact that human developers seldom get their program correct on…