Related papers: Synthesis of Run-To-Completion Controllers for Dis…
Achieving optimality in controlling physical systems is a profound challenge across diverse scientific and engineering fields, spanning neuromechanics, biochemistry, autonomous systems, economics, and beyond. Traditional solutions, relying…
In this paper, we investigate the problem of optimal supervisory control for the discrete event systems under energy constraints. We consider that the execution of events consumes energy and the energy can be replenished at specific reload…
This paper investigates the problem of distributed nonblocking supervisory control for timed discrete-event systems (DESs). The distributed supervisors communicate with each other over networks subject to nondeterministic communication…
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…
This paper identifies a property of delay-robustness in distributed supervisory control of discrete-event systems (DES) with communication delays. In previous work a distributed supervisory control problem has been investigated on the…
In this paper, we explore the interplay between Predictive Control and closed-loop optimality, spanning from Model Predictive Control to Data-Driven Predictive Control. Predictive Control in general relies on some form of prediction scheme…
In decentralized systems, branching behaviors naturally arise due to communication, unmodeled dynamics and system abstraction, which can not be adequately captured by the traditional sequencing-based language equivalence. As a finer…
Learning-enabled controllers with stability certificate functions have demonstrated impressive empirical performance in addressing control problems in recent years. Nevertheless, directly deploying the neural controllers onto actual digital…
The goal of this thesis is to design a learning model predictive controller (LMPC) that allows multiple agents to race competitively on a predefined race track in real-time. This thesis addresses two major shortcomings in the already…
Many real-world control systems, such as the smart grid and human sensorimotor control systems, have decentralized components that react quickly using local information and centralized components that react slowly using a more global view.…
Autonomous car racing is a challenging task, as it requires precise applications of control while the vehicle is operating at cornering speeds. Traditional autonomous pipelines require accurate pre-mapping, localization, and planning which…
Robotic research over the last decades have lead us to different architectures to automatically synthesise discrete event controllers and implement these motion and task plans in real-world robot scenarios. However, these architectures…
In this paper, we revise and further investigate the coordination control approach proposed for supervisory control of distributed discrete-event systems with synchronous communication based on the Ramadge-Wonham automata framework. The…
Leveraging the accuracy and consistency of vehicle motion control enabled by the connected and automated vehicle technology, we propose the rhythmic control (RC) scheme that allows vehicles to pass through an intersection in a conflict-free…
In this work, we propose an event-triggered con- trol framework for dynamical systems with temporal logical constraints. Event-triggered control methodologies have proven to be very efficient in reducing sensing, communication and…
This paper presents a Directed Controller Synthesis (DCS) technique for discrete event systems. The DCS method explores the solution space for reactive controllers guided by a domain-independent heuristic. The heuristic is derived from an…
In many real-world problems, predictions are leveraged to monitor and control cyber-physical systems, demanding guarantees on the satisfaction of reliability and safety requirements. However, predictions are inherently uncertain, and…
TCP and its variants have suffered from surprisingly poor performance for decades. We argue the TCP family has little hope to achieve consistent high performance due to a fundamental architectural deficiency: hardwiring packet-level events…
This paper considers receding horizon control of finite deterministic systems, which must satisfy a high level, rich specification expressed as a linear temporal logic formula. Under the assumption that time-varying rewards are associated…
This paper studies an optimal ON-OFF control problem for a class of discrete event systems with real-time constraints. Our goal is to minimize the overall costs, including the operating cost and the wake-up cost, while still guaranteeing…