Related papers: Dynamic Quantization based Symbolic Abstractions f…
We propose a multi-scale approach for computing abstractions of dynamical systems, that incorporates both local and global optimal control to construct a goal-specific abstraction. For a local optimal control problem, we not only design the…
Symbolic approaches to the control design over complex systems employ the construction of finite-state models that are related to the original control systems, then use techniques from finite-state synthesis to compute controllers…
This paper addresses the problem of decentralized abstractions for multiple mobile manipulators with 2nd order dynamics. In particular, we propose decentralized controllers for the navigation of each agent among predefined regions of…
This paper is concerned with a compositional approach for constructing infinite abstractions of interconnected discrete-time stochastic control systems. The proposed approach uses the interconnection matrix and joint dissipativity-type…
In this paper, we consider the problem of synthesizing low-complexity controllers for incrementally stable switched systems. For that purpose, we establish a new approximation result for the computation of symbolic models that are…
Recent efforts in the development of autonomous driving technology have induced great advancements in perception, planning and control systems. Model predictive control is one of the most popular advanced control methods, but its…
In this paper, our aim is to propose a model for code abstraction, based on abstract interpretation, allowing us to improve the precision of a recently proposed static analysis by abstract interpretation of dynamic languages. The problem we…
Dynamical sampling deals with signals that evolve in time under the action of a linear operator. The purpose of the present paper is to analyze the performance of the basic dynamical sampling algorithms in the finite dimensional case and…
In this paper we propose a compositional scheme for the construction of abstractions for networks of control systems using the interconnection matrix and joint dissipativity-type properties of subsystems and their abstractions. In the…
In this paper, we introduce a compositional method for the construction of finite abstractions of interconnected discrete-time switched systems. Particularly, we use a notion of so-called alternating simulation function as a relation…
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…
With the increasing ubiquity of safety-critical autonomous systems operating in uncertain environments, there is a need for mathematical methods for formal verification of stochastic models. Towards formally verifying properties of…
This paper formulates and studies the concepts of approximate (alternating) bisimulation relations characterizing equivalence relations between interconnected systems and their abstractions. These equivalence relations guarantee that the…
The goal of this paper is to obtain online abstractions for coupled multi-agent systems in a decentralized manner. A discrete model which captures the motion capabilities of each agent is derived over a bounded time-horizon, by discretizing…
This paper proposes a method for abstracting control systems by timed game automata, and is aimed at obtaining automatic controller synthesis. The proposed abstraction is based on partitioning the state space of a control system using…
We propose a hierarchical control framework for the synthesis of correct-by-construction controllers for nonlinear control-affine systems with respect to reach-avoid-stay specifications. We first create a low-dimensional continuous…
In this paper, we propose an incremental abstraction method for dynamically over-approximating nonlinear systems in a bounded domain by solving a sequence of linear programs, resulting in a sequence of affine upper and lower hyperplanes…
We propose a method for automatically generating abstract transformers for static analysis by abstract interpretation. The method focuses on linear constraints on programs operating on rational, real or floating-point variables and…
Stochastic switched systems are a relevant class of stochastic hybrid systems with probabilistic evolution over a continuous domain and control-dependent discrete dynamics over a finite set of modes. In the past few years several different…
Imitation learning is a popular method for teaching robots new behaviors. However, most existing methods focus on teaching short, isolated skills rather than long, multi-step tasks. To bridge this gap, imitation learning algorithms must not…