Related papers: It's Time to Play Safe: Shield Synthesis for Timed…

This work develops a theoretical framework for safety controller synthesis in discrete-time stochastic nonlinear polynomial systems subject to time-invariant delays (dt-SNPS-td). While safety analysis of stochastic systems using control…

Distributed control algorithms are known to reduce overall computation time compared to centralized control algorithms. However, they can result in inconsistent solutions leading to the violation of safety-critical constraints. Inconsistent…

Anticipated synchronisation occurs when a driven dynamical system synchronises with the future state of the driver system to which it is unidirectionally coupled. Previous theoretical and experimental studies have focused on setups with a…

This paper presents a safe controller synthesis of discrete-time stochastic systems using Control Barrier Functions (CBFs). The proposed condition allows the design of a safe controller synthesis that ensures system safety while avoiding…

Time-delay systems are an important class of dynamical systems which provide a solid mathematical framework to deal with many application domains of interest ranging from biology, chemical, electrical, and mechanical engineering, to…

In this paper, we present an approach for fault-tolerant synthesis by combining predefined patterns for fault-tolerance with algorithmic game solving. A non-fault-tolerant system, together with the relevant fault hypothesis and…

In this work, we address the issue of controller synthesis for a control-affine nonlinear system to meet prescribed time reach-avoid-stay specifications. Our goal is to improve upon previous methods based on spatiotemporal tubes (STTs) by…

Control synthesis from temporal logic specifications has gained popularity in recent years. In this paper, we use a model predictive approach to control discrete time linear systems with additive bounded disturbances subject to constraints…

It is challenging to use reinforcement learning (RL) in cyber-physical systems due to the lack of safety guarantees during learning. Although there have been various proposals to reduce undesired behaviors during learning, most of these…

Nowadays, many control systems are networked and embed communication and computation capabilities. Such control architectures are prone to cyber attacks on the cyberinfrastructure. Consequently, there is an impellent need to develop…

The growing trend of fledgling reinforcement learning systems making their way into real-world applications has been accompanied by growing concerns for their safety and robustness. In recent years, a variety of approaches have been put…

This paper targets the efficient construction of a safety shield for decision making in scenarios that incorporate uncertainty. Markov decision processes (MDPs) are prominent models to capture such planning problems. Reinforcement learning…

Ensuring safety for human-interactive robotics is important due to the potential for human injury. The key challenge is defining safety in a way that accounts for the complex range of human behaviors without modeling the human as an…

This paper studies the problem of enforcing safety of a stochastic dynamical system over a finite time horizon. We use stochastic barrier functions as a means to quantify the probability that a system exits a given safe region of the state…

In this paper, we propose an approach for synthesizing provable reach-avoid controllers, which drive a deterministic system operating in an unknown environment to safely reach a desired target set. The approach falls within the reachability…

Predictive safety filters enable the integration of potentially unsafe learning-based control approaches and humans into safety-critical systems. In addition to simple constraint satisfaction, many control problems involve additional…

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…

In this paper the problem of cooperative task planning of multi-agent systems when timed constraints are imposed to the system is investigated. We consider timed constraints given by Metric Interval Temporal Logic (MITL). We propose a…

Verified controller synthesis uses world models that comprise all potential behaviours of humans, robots, further equipment, and the controller to be synthesised. A world model enables quantitative risk assessment, for example, by…

The stochastic nature of time delays and sampling intervals in Networked Control Systems poses significant challenges for controller synthesis and analysis, often leading to conservative designs and degraded performance. This work presents…