Related papers: Symbolic Self-triggered Control of Continuous-time…
Parameterized synthesis offers a solution to the problem of constructing correct and verified controllers for parameterized systems. Such systems occur naturally in practice (e.g., in the form of distributed protocols where the amount of…
In this paper, we present a control framework that allows magnetic microrobot teams to accomplish complex micromanipulation tasks captured by global Linear Temporal Logic (LTL) formulas. To address this problem, we propose an optimal…
Signal Temporal Logic (STL), has recently seen extensive development, owing to its rich expressivenes for autonomous planning and control. Nevertheless, existing verification and control synthesis methods are limited with respect to the…
In this paper, we consider the notions of effort and resilience of a dynamical control system defined by the maximum disturbance the system can withstand while satisfying given finite temporal logic specifications. Given a dynamical system…
In this paper, we investigate the problem of synthesizing strategies for linear temporal logic (LTL) specifications that are interpreted over finite traces -- a problem that is central to the automated construction of controllers, robot…
Reactive synthesis is an automated procedure to obtain a correct-by-construction reactive system from a given specification. GR(1) is a well-known fragment of linear temporal logic (LTL) where synthesis is possible using a polynomial…
We present a method for synthesizing controllers to steer trajectories from an initial set to a target set on a finite time horizon. The proposed control synthesis problem is decomposed into two steps. The first step under-approximates the…
Designing the terminal ingredients of direct data-driven predictive control presents challenges due to its reliance on an implicit, non-minimal input-output data-driven representation. By considering the class of constrained LTI systems…
In this paper, we investigate the controller design problem for linear disturbed systems under signal temporal logic (STL) specifications imposing both spatial and temporal constraints on system behavior. We first implement zonotope-based…
The control properties of discrete-time switched linear systems (SLS) with switching signals generated by logical dynamic systems are studied using the semi-tensor product (STP) approach. With the algebraic state space representation…
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…
We present a framework to synthesize control policies for nonlinear dynamical systems from complex temporal constraints specified in a rich temporal logic called Signal Temporal Logic (STL). We propose a novel smooth and differentiable STL…
Partial observability and controllability are two well-known issues in test-case synthesis for interactive systems. We address the problem of partial control in the synthesis of test cases from timed-automata specifications. Building on the…
In this paper, we present a model-based periodic event-triggered control mechanism for nonlinear continuous-time Networked Control Systems. A sampled-data prediction of the system behavior is used at the actuator to reduce the amount of…
Signal Temporal Logic (STL) is a convenient formalism to express bounded horizon properties of autonomous critical systems. STL extends LTL to real-valued signals and associates a non-singleton bound interval to each temporal operators. 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…
The research area of Networked Control Systems (NCS) has been the topic of intensive study in the last decade. In this paper we give a contribution to this research line by addressing symbolic control design of (possibly unstable) nonlinear…
We propose a control synthesis framework for a heterogeneous multi-robot system to satisfy collaborative tasks, where actions may take varying duration of time to complete. We encode tasks using the discrete logic LTL^\psi, which uses the…
Reactive synthesis is the process of using temporal logic specifications in LTL to generate correct controllers, but its use has been restricted to Boolean specifications. Recently, a Boolean abstraction technique allows to translate LTL T…
We consider a problem on the synthesis of reactive controllers that optimize some a priori unknown performance criterion while interacting with an uncontrolled environment such that the system satisfies a given temporal logic specification.…