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We introduce an automated, formal, counterexample-based approach to synthesise Barrier Certificates (BC) for the safety verification of continuous and hybrid dynamical models. The approach is underpinned by an inductive framework: this is…
This paper develops a control approach with correctness guarantees for the simultaneous operation of lane keeping and adaptive cruise control. The safety specifications for these driver assistance modules are expressed in terms of set…
Converter-based generators and loads are growing in prevalence on power grids across the globe. The rise of these resources necessitates controllers that handle the power electronic devices' strict current limits without jeopardizing…
Synthesizing safety controllers for general nonlinear systems is a highly challenging task, particularly when the system models are unknown, and input constraints are present. While some recent efforts have explored data-driven safety…
Motivated by the lack of systematic tools to obtain safe control laws for hybrid systems, we propose an optimization-based framework for learning certifiably safe control laws from data. In particular, we assume a setting in which the…
This paper presents two new control approaches for guaranteed safety (remaining in a safe set) subject to actuator constraints (the control is in a convex polytope). The control signals are computed using real-time optimization, including…
We study the problem of automatically computing the controllable region of a Linear Hybrid Automaton, with respect to a safety objective. We describe the techniques that are needed to effectively and efficiently implement a…
We introduce a method for controlling systems with nonlinear dynamics and full actuation by approximating the dynamics with polynomials and applying a system level synthesis controller. We show how to optimize over this class of controllers…
Controllers designed with reinforcement learning can be sensitive to model mismatch. We demonstrate that designing such controllers in a virtual simulation environment with an inaccurate model is not suitable for deployment in a physical…
Controller synthesis is in essence a case of model-based planning for non-deterministic environments in which plans (actually ''strategies'') are meant to preserve system goals indefinitely. In the case of supervisory control environments…
This paper tackles the problem of generating safe exit controllers for continuous-time systems described by stochastic differential equations (SDEs). The primary aim is to develop controllers that maximize the lower bounds of the exit…
This paper presents a novel approach for safe control synthesis using the dual formulation of the navigation problem. The main contribution of this paper is in the analytical construction of density functions for almost everywhere…
Safe and optimal controller synthesis for switched-controlled hybrid systems, which combine differential equations and discrete changes of the system's state, is known to be intricately hard. Reinforcement learning has been leveraged to…
This paper is concerned with the design of a linear control law for linear systems with stationary additive disturbances. The objective is to find a state feedback gain that minimizes a quadratic stage cost function, while observing chance…
Many Embedded Systems are indeed Software Based Control Systems (SBCSs), that is control systems whose controller consists of control software running on a microcontroller device. This motivates investigation on Formal Model Based Design…
In this paper we propose sufficient conditions to synthesizing reach-avoid controllers for deterministic systems modelled by ordinary differential equations and stochastic systems modeled by stochastic differential equations based on the…
Current reconfiguration techniques are based on starting the system in a consistent configuration, in which all participating entities are in their initial state. Starting from that state, the system must preserve consistency as long as a…
Automatic synthesis of hardware components from declarative specifications is an ambitious endeavor in computer aided design. Existing synthesis algorithms are often implemented with Binary Decision Diagrams (BDDs), inheriting their…
Biological and advanced cyberphysical control systems often have limited, sparse, uncertain, and distributed communication and computing in addition to sensing and actuation. Fortunately, the corresponding plants and performance…
In this work, we study verification and synthesis problems for safety specifications over unknown discrete-time stochastic systems. When a model of the system is available, barrier certificates have been successfully applied for ensuring…