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In order to solve complex, long-horizon tasks, intelligent robots need to carry out high-level, abstract planning and reasoning in conjunction with motion planning. However, abstract models are typically lossy and plans or policies computed…
In this work, we study properties of deterministic finite-state automata with timers, a subclass of timed automata proposed by Vaandrager et al. as a candidate for an efficiently learnable timed model. We first study the complexity of the…
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…
Collaboration between interconnected cyber-physical systems is becoming increasingly pervasive. Time-delays in communication channels between such systems are known to induce catastrophic failure modes, like high frequency oscillations in…
A human-centered robot needs to reason about the cognitive limitation and potential irrationality of its human partner to achieve seamless interactions. This paper proposes an anytime game-theoretic planner that integrates iterative…
Sampled semantics of timed automata is a finite approximation of their dense time behavior. While the former is closer to the actual software or hardware systems with a fixed granularity of time, the abstract character of the latter makes…
Hybrid automata are a natural framework for modeling and analyzing systems which exhibit a mixed discrete continuous behaviour. However, the standard operational semantics defined over such models implicitly assume perfect knowledge of the…
The existence of optimal strategy in robust utility maximization is addressed when the utility function is finite on the entire real line. A delicate problem in this case is to find a "good definition" of admissible strategies, so that an…
Weighted timed games are two-player zero-sum games played in a timed automaton equipped with integer weights. We consider optimal reachability objectives, in which one of the players, that we call Min, wants to reach a target location while…
Parametric timed automata are a powerful formalism for reasoning on concurrent real-time systems with unknown or uncertain timing constants. Reducing their state space is a significant way to reduce the inherently large analysis times. We…
We present a method to generate a robot control strategy that maximizes the probability to accomplish a task. The task is given as a Linear Temporal Logic (LTL) formula over a set of properties that can be satisfied at the regions of a…
Timed automata are the formal model for real-time systems. Extensions with discrete probabilistic branching have been considered in the literature and successfully applied. Probabilistic timed automata (PTA) do require all branching…
In this paper, we study the notion of admissibility for randomised strategies in concurrent games. Intuitively, an admissible strategy is one where the player plays `as well as possible', because there is no other strategy that dominates…
This paper designs traffic signal control policies for a network of signalized intersections without knowing the demand and parameters. Within a model predictive control (MPC) framework, control policies consist of an algorithm that…
Mean-payoff games on timed automata are played on the infinite weighted graph of configurations of priced timed automata between two players, Player Min and Player Max, by moving a token along the states of the graph to form an infinite…
In this paper we present a method for automatically generating optimal robot trajectories satisfying high level mission specifications. The motion of the robot in the environment is modeled as a general transition system, enhanced with…
Probabilistic timed automata are an extension of timed automata with discrete probability distributions. We consider model-checking algorithms for the subclasses of probabilistic timed automata which have one or two clocks. Firstly, we show…
In this paper we present a method for automatically planning robust optimal paths for a group of robots that satisfy a common high level mission specification. Each robot's motion in the environment is modeled as a weighted transition…
We introduce a new formalism of higher-dimensional timed automata, based on van Glabbeek's higher-dimensional automata and Alur's timed automata. We prove that their reachability is PSPACE-complete and can be decided using zone-based…
What is a finite-state strategy in a delay game? We answer this surprisingly non-trivial question by presenting a very general framework that allows to remove delay: finite-state strategies exist for all winning conditions where the…