Related papers: Control Barrier Functions for Abstraction-Free Con…
We study the problem of synthesizing a controller to satisfy a complex task in the presence of sensor faults and attacks. We model the task using Gaussian distribution temporal logic (GDTL), and propose a solution approach that does not…
This paper presents a systematic method for synthesizing a Control Barrier Function (CBF) that encodes predictive information into a CBF. Unlike other methods, the synthesized CBF can account for changes and time-variations in the…
Control Barrier Functions (CBFs) allow for efficient synthesis of controllers to maintain desired invariant properties of safety-critical systems. However, the problem of identifying a CBF remains an open question. As such, this paper…
Because of the scalability issues associated with the symbolic controller synthesis approach, employing it in a multi-agent system (MAS) framework becomes difficult. In this paper, we present a novel approach for synthesizing distributed…
Signal Temporal Logic (STL) provides a powerful framework to describe complex tasks involving temporal and logical behavior in dynamical systems. This work addresses controller synthesis for continuous-time systems subject to STL…
In this work, we propose a novel approach for the continuous-time control synthesis of nonlinear systems under nested signal temporal logic (STL) specifications. While the majority of existing literature focuses on control synthesis for STL…
This paper introduces a new framework for synthesizing time-varying control barrier functions (TV-CBFs) for general Signal Temporal Logic (STL) specifications using spatiotemporal tubes (STT). We first formulate the STT synthesis as a…
Control Barrier Functions (CBFs) offer a framework for ensuring set invariance and designing constrained control laws. However, crafting a valid CBF relies on system-specific assumptions and the availability of an accurate system model,…
This paper presents a method for control synthesis under spatio-temporal constraints. First, we consider the problem of reaching a set $S$ in a user-defined or prescribed time $T$. We define a new class of control Lyapunov functions, called…
We propose control barrier functions (CBFs) for a family of dynamical systems to satisfy a broad fragment of Signal Temporal Logic (STL) specifications, which may include subtasks with nested temporal operators or conflicting requirements…
This tutorial paper presents recent work of the authors that extends the theory of Control Barrier Functions (CBFs) to address practical challenges in the synthesis of safe controllers for autonomous systems and robots. We present novel…
Automatic synthesis from temporal logic specifications is an attractive alternative to manual system design, due to its ability to generate correct-by-construction implementations from high-level specifications. Due to the high complexity…
We present a compositional control synthesis method based on assume-guarantee contracts with application to correct-by-construction design of vehicular mission plans. In our approach, a mission-level specification expressed in a fragment of…
This paper focuses on synthesizing control policies for discrete-time stochastic control systems together with a lower bound on the probability that the systems satisfy the complex temporal properties. The desired properties of the system…
In this paper, we develop a novel adaptation-based approach to constrained control design under multiple state and input constraints. Specifically, we introduce a method for synthesizing any number of time-varying candidate control barrier…
Certifying the safety of nonlinear systems, through the lens of set invariance and control barrier functions (CBFs), offers a powerful method for controller synthesis, provided a CBF can be constructed. This paper draws connections between…
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…
Control Barrier Functions (CBF) have provided a very versatile framework for the synthesis of safe control architectures for a wide class of nonlinear dynamical systems. Typically, CBF-based synthesis approaches apply to systems that…
Control Lyapunov functions (CLFs) and control barrier functions (CBFs) are widely used tools for synthesizing controllers subject to stability and safety constraints. Paired with online optimization, they provide stabilizing control actions…
A challenging problem for autonomous systems is to synthesize a reactive controller that conforms to a set of given correctness properties. Linear temporal logic (LTL) provides a formal language to specify the desired behavioral properties…