Related papers: Efficient STL Control Synthesis under Asynchronous…
In many synthesis problems, it can be essential to generate implementations which not only satisfy functional constraints but are also randomized to improve variety, robustness, or unpredictability. The recently-proposed framework of…
Formal control synthesis approaches over stochastic systems have received significant attention in the past few years, in view of their ability to provide provably correct controllers for complex logical specifications in an automated…
We present a mathematical programming-based method for model predictive control of cyber-physical systems subject to signal temporal logic (STL) specifications. We describe the use of STL to specify a wide range of properties of these…
In multi-agent system design, a crucial aspect is to ensure robustness, meaning that for a coalition of agents A, small violations of adversarial assumptions only lead to small violations of A's goals. In this paper we introduce a logical…
This paper studies the finite-horizon robust optimal control of constrained linear systems subject to model mismatch and additive stochastic disturbances. Utilizing the system level synthesis (SLS) parameterization, we propose a novel SLS…
This paper presents a real-time control framework for nonlinear pure-feedback systems with unknown dynamics to satisfy reach-avoid-stay tasks within a prescribed time in dynamic environments. To achieve this, we introduce a real-time…
With the primary objective of human-robot interaction being to support humans' goals, there exists a need to formally synthesize robot controllers that can provide the desired service. Synthesis techniques have the benefit of providing…
Safe and compliant control of dynamic systems in interaction with the environment, e.g., in shared workspaces, continues to represent a major challenge. Mismatches in the dynamic model of the robots, numerical singularities, and the…
In many practical scenarios, multi-robot systems are envisioned to support humans in executing complicated tasks within structured environments, such as search-and-rescue tasks. We propose a framework for a multi-robot swarm to fulfill…
The manual implementation of distributed systems is an error-prone task because of the asynchronous interplay of components and the environment. Bounded synthesis automatically generates an implementation for the specification of the…
This paper studies control synthesis for a general class of nonlinear, control-affine dynamical systems under additive disturbances and state-estimation errors. We enforce forward invariance of static and dynamic safe sets and convergence…
A key property for systems subject to uncertainty in their operating environment is robustness, ensuring that unmodelled, but bounded, disturbances have only a proportionally bounded effect upon the behaviours of the system. Inspired by…
We address the safety verification and synthesis problems for real-time systems. We introduce real-time programs that are made of instructions that can perform assignments to discrete and real-valued variables. They are general enough to…
Analyzing and controlling system entropy is a powerful tool for regulating predictability of control systems. Applications benefiting from such approaches range from reinforcement learning and data security to human-robot collaboration. In…
This paper explores continuous-time control synthesis for target-driven navigation to satisfy complex high-level tasks expressed as linear temporal logic (LTL). We propose a model-free framework using deep reinforcement learning (DRL) where…
We consider the synthesis of control policies from temporal logic specifications for robots that interact with multiple dynamic environment agents. Each environment agent is modeled by a Markov chain whereas the robot is modeled by a finite…
This paper investigates the synthesis of robust controllers from logical specification of regular properties given in an interval temporal logic QDDC. Our specification encompasses both hard robustness and soft robustness. Here, hard…
We study the problem of determining whether a given temporal specification can be implemented by a symmetric system, i.e., a system composed from identical components. Symmetry is an important goal in the design of distributed systems,…
The use of spatio-temporal logics in control is motivated by the need to impose complex spatial and temporal behavior on dynamical systems, and to control these systems accordingly. Synthesizing correct-by-design control laws is a…
This tutorial paper presents recent work of the authors that extends the theory of Control Barrier Functions (CBFs) to address practical challenges in the synthesis of safe controllers for autonomous systems and robots. We present novel…