Related papers: Supervisory Control of Modular Discrete-Event Syst…
In this paper we consider the supervisory control problem through language equation solving. The equation solving approach allows to deal with more general topologies and to find a largest supervisor which can be used as a reservoir for…
We present safe control of partially-observed linear time-varying systems in the presence of unknown and unpredictable process and measurement noise. We introduce a control algorithm that minimizes dynamic regret, i.e., that minimizes the…
Autonomous systems with machine learning-based perception can exhibit unpredictable behaviors that are difficult to quantify, let alone verify. Such behaviors are convenient to capture in probabilistic models, but probabilistic model…
In this work, we investigate the problem of synthesizing property-enforcing supervisors for partially-observed discrete-event systems (DES). Unlike most existing approaches, where the enforced property depends solely on the executed…
The quantification of controllability and observability has recently received new interest in the context of large, complex networks of dynamical systems. A fundamental but computationally difficult problem is the placement or selection of…
The paradigm of Cyber-Physical Systems of Systems (CPSoS) is becoming rather popular in the control systems research community because of its expressive power able to properly handle many engineered complex systems of interest.…
This paper introduces a novel control framework to address the satisfaction of multiple time-varying output constraints in uncertain high-order MIMO nonlinear control systems. Unlike existing methods, which often assume that the constraints…
A key topic in network science is the detection of intermediate or meso-scale structures. Community, core-periphery, disassortative and other partitions allow us to understand the organisation and function of large networks. In this work we…
The requirement of a language to be conditionally decomposable is imposed on a specification language in the coordination supervisory control framework of discrete-event systems. In this paper, we present a polynomial-time algorithm for the…
In this paper, we investigate state estimation and opacity verification problems within a decentralized observation architecture. Specifically, we consider a discrete event system whose behavior is recorded by a set of observation sites.…
Conventional supervisory control theory assumes full synchronization between the supervisor and the plant. This assumption is violated in a networked-based communication setting due to the presence of delays, and this may result in…
Embodied Task Planning with large language models faces safety challenges in real-world environments, where partial observability and physical constraints must be respected. Existing benchmarks often overlook these critical factors,…
Field robot systems have recently been applied to a wide range of research fields. Making such systems more automated, advanced, and activated requires cooperation among heterogeneous robots. Classic control theory is inefficient in…
We present an explainable AI-enhanced supervisory control framework for multi-agent robotics that combines (i) a timed-automata supervisor for safe, auditable mode switching, (ii) robust continuous control (Lyapunov-based controller for…
For systems that are not observable at the very equilibrium of interest to be stabilized, output-feedback stabilization is considerably challenging. In this paper we solve this control problem for the case-study of a second-order system…
In this paper, we solve the complete coordination problem of robotic fiber positioners using supervisory control theory. In particular, we model positioners and their behavioral specifications as discrete-event systems by the discretization…
This paper studies runtime monitoring for persistent surveillance by autonomous robots when the autonomy stack is a black box. The environment is partitioned into finitely many parts, each carrying an uncertainty state that decreases when…
This paper proposes a multiple-model adaptive control methodology, using set-valued observers (MMAC-SVO) for the identification subsystem, that is able to provide robust stability and performance guarantees for the closed-loop, when the…
This work considers to achieve near-optimal operation for a class of batch processes by employing self-optimizing control (SOC). Comparing with a continuous one, a batch process exhibits stronger nonlinearity with dynamics because of the…
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…