Related papers: Fast Synthesis for Symbolic Self-triggered Control…
In this paper, we propose a symbolic control synthesis method for nonlinear sampled switched systems whose vector fields are one-sided Lipschitz. The main idea is to use an approximate model obtained from the forward Euler method to build a…
This study examines the problem of hopping robot navigation planning to achieve simultaneous goal-directed and environment exploration tasks. We consider a scenario in which the robot has mandatory goal-directed tasks defined using Linear…
We study the problem of control synthesis for multi-agent systems, to achieve complex, high-level, long-term goals that are assigned to each agent individually. As the agents might not be capable of satisfying their respective goals by…
This paper studies the construction of symbolic abstractions for nonlinear control systems via feedback refinement relation. Both the delay-free and time-delay cases are addressed. For the delay-free case, to reduce the computational…
Recent advances in learning for control allow to synthesize vehicle controllers from learned system dynamics and maintain robust stability guarantees. However, no approach is well-suited for training linear time-invariant (LTI) controllers…
Many safety-critical systems must achieve high-level task specifications with guaranteed safety and correctness. Much recent progress towards this goal has been made through controller synthesis from temporal logic specifications. Existing…
This paper addresses the problem of learning control policies for mobile robots, modeled as unknown Markov Decision Processes (MDPs), that are tasked with temporal logic missions, such as sequencing, coverage, or surveillance. The MDP…
Discrete abstractions of continuous and hybrid systems have recently been the topic of great interest from both the control systems and the computer science communities, because they provide a sound mathematical framework for analysing and…
Signal Temporal Logic (STL) is an efficient technique for describing temporal constraints. It can play a significant role in robotic manipulation, for example, to optimize the robot performance according to task-dependent metrics. In this…
We investigate the problem of controller synthesis for hyperproperties specified in the temporal logic HyperLTL. Hyperproperties are system properties that relate multiple execution traces. Hyperproperties can elegantly express…
In this paper, we study incremental LTLf synthesis -- a form of reactive synthesis where the goals are given incrementally while in execution. In other words, the protagonist agent is already executing a strategy for a certain goal when it…
Automaton based approaches have enabled robots to perform various complex tasks. However, most existing automaton based algorithms highly rely on the manually customized representation of states for the considered task, limiting its…
Hybrid games are games played on a finite graph endowed with real variables which may model behaviors of discrete controllers of continuous systems. The synthesis problem for hybrid games is decidable for classical objectives (like LTL…
We propose a framework for solving control synthesis problems for multi-agent networked systems required to satisfy spatio-temporal specifications. We use Spatio-Temporal Reach and Escape Logic (STREL) as a specification language. For this…
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…
In this paper, a self-triggered control scheme for constrained discrete-time control systems is presented. The key idea of our approach is to construct a transition system or a graph structure from a collection of polyhedral sets, which are…
In this paper we present a method for designing a linear time invariant (LTI) state-feedback controller to monotonically track a constant step reference at any desired rate of convergence for any arbitrarily assigned initial condition.…
This paper presents a spatiotemporal tube (STT)-based control framework for satisfying Signal Temporal Logic (STL) specifications in unknown control-affine systems. We formulate STL constraints as a robust optimization problem (ROP) and…
A Learning Model Predictive Controller (LMPC) for linear system in presented. The proposed controller is an extension of the LMPC [1] and it aims to decrease the computational burden. The control scheme is reference-free and is able to…
In this paper, a method to synthesize controllers using finite time convergence control barrier functions guided by linear temporal logic specifications for continuous time multi-agent dynamical systems is proposed. Finite time convergence…