Related papers: Barrier-Based Test Synthesis for Safety-Critical S…
Safety filters based on Control Barrier Functions (CBFs) have emerged as a practical tool for the safety-critical control of autonomous systems. These approaches encode safety through a value function and enforce safety by imposing a…
The efficient utilization of available resources while simultaneously achieving control objectives is a primary motivation in the event-triggered control paradigm. In many modern control applications, one such objective is enforcing the…
In this paper, we investigate the problem of synthesizing resilient supervisors against combined actuator and sensor attacks, for the subclass of cyber-physical systems that can be modelled as discrete-event systems. We assume that the…
We present an approach to automatically synthesize synchronized models from lightweight formal specifications. Our approach takes as input a specification of a distributed system along with a global linear time constraint, which must be…
In modern robotics, addressing the lack of accurate state space information in real-world scenarios has led to a significant focus on utilizing visuomotor observation to provide safety assurances. Although supervised learning methods, such…
Reactive synthesis is a key technique for the design of correct-by-construction systems and has been thoroughly investigated in the last decades. It consists in the synthesis of a controller that reacts to environment's inputs satisfying a…
We consider the feedback design for stabilizing a rigid body system by making and breaking multiple contacts with the environment without prespecifying the timing or the number of occurrence of the contacts. We model such a system as a…
We address the problem of diagnosing and repairing specifications for hybrid systems formalized in signal temporal logic (STL). Our focus is on the setting of automatic synthesis of controllers in a model predictive control (MPC) framework.…
In this article, the problem of synthesizing switching controllers is considered through the synthesis of a "control certificate". Control certificates include control barrier and Lyapunov functions, which represent control strategies, and…
Ensuring that agents satisfy safety specifications can be crucial in safety-critical environments. While methods exist for controller synthesis with safe temporal specifications, most existing methods restrict safe temporal specifications…
The reactive synthesis problem is to find a finite-state controller that satisfies a given temporal-logic specification regardless of how its environment behaves. Developing a formal specification is a challenging and tedious task and…
We consider controller synthesis for stochastic and partially unknown environments in which safety is essential. Specifically, we abstract the problem as a Markov decision process in which the expected performance is measured using a cost…
This paper presents a scenario generation framework that creates diverse, parametrized, and safety-critical driving situations to validate the safety features of autonomous vehicles in simulation [15]. By modeling factors such as road…
Control Barrier Functions (CBFs) have become a popular tool for enforcing set invariance in safety-critical control systems. While guaranteeing safety, most CBF approaches are myopic in the sense that they solve an optimization problem at…
In this paper, we provide a compositional framework for synthesizing hybrid controllers for interconnected discrete-time control systems enforcing specifications expressed by co-Buchi automata. In particular, we first decompose the given…
Recent advances in machine learning technologies and sensing have paved the way for the belief that safe, accessible, and convenient autonomous vehicles may be realized in the near future. Despite tremendous advances within this context,…
We consider the problem of extracting safe environments and controllers for reach-avoid objectives for systems with known state and control spaces, but unknown dynamics. In a given environment, a common approach is to synthesize a…
Purpose: Curating large-scale datasets of operating room (OR) workflow, encompassing rare, safety-critical, or atypical events, remains operationally and ethically challenging. This data bottleneck complicates the development of ambient…
We propose novel controller synthesis techniques for probabilistic systems modelled using stochastic two-player games: one player acts as a controller, the second represents its environment, and probability is used to capture uncertainty…
The focus of this thesis is developing a framework for designing correct-by-construction controllers using control certificates. We use nonlinear dynamical systems to model the physical environment (plants). The goal is to synthesize…