Related papers: Continuous-time control synthesis under nested sig…
This paper investigates continuous-time motion planning under Signal Temporal Logic (STL) specifications. The goal is to generate smooth robot trajectories that satisfy high-level logical and timing requirements while respecting low-level…
Signal Temporal Logic (STL) offers a concise yet expressive framework for specifying and reasoning about spatio-temporal behaviors of robotic systems. Attractively, STL admits the notion of robustness, the degree to which an input signal…
Quantitative extensions of temporal logics have recently attracted significant attention. In this work, we study frequency LTL (fLTL), an extension of LTL which allows to speak about frequencies of events along an execution. Such an…
Shifting away from the traditional mass production approach, the process industry is moving towards more agile, cost-effective and dynamic process operation (next-generation smart plants). This warrants the development of control systems…
Techniques for runtime verification often utilise specification languages that are (i) reasonably expressive, and (ii) relatively abstract (i.e. they operate on a level of abstraction that separates them from the system being monitored).…
In this paper we introduce a class of Linear Temporal Logic (LTL) specifications for which the problem of synthesizing controllers can be solved in polynomial time. The new class of specifications is an LTL fragment that we term Mode-Target…
Signal Temporal Logic (STL) is a formalism used to rigorously specify requirements of cyberphysical systems (CPS), i.e., systems mixing digital or discrete components in interaction with a continuous environment or analog com- ponents. STL…
This paper presents a framework for designing provably safe feedback controllers for sampled-data control affine systems with measurement and actuation uncertainties. Based on the interval Taylor model of nonlinear functions, a sampled-data…
Safety is a fundamental requirement of many robotic systems. Control barrier function (CBF)-based approaches have been proposed to guarantee the safety of robotic systems. However, the effectiveness of these approaches highly relies on the…
This paper studies the synthesis of controllers for cyber-physical systems (CPSs) that are required to carry out complex tasks that are time-sensitive, in the presence of an adversary. The task is specified as a formula in metric interval…
This paper deals with the control synthesis problem for a continuous nonlinear dynamical system under a Linear Temporal Logic (LTL) formula. The proposed solution is a top-down hierarchical decomposition of the control problem involving…
Individual machines in flexible production lines explicitly expose capabilities at their interfaces by means of parametric skills. Given such a set of configurable machines, a line integrator is faced with the problem of finding and tuning…
Modern nonlinear control theory seeks to endow systems with properties such as stability and safety, and has been deployed successfully across various domains. Despite this success, model uncertainty remains a significant challenge in…
We present a controller synthesis algorithm for reach-avoid problems for piecewise linear discrete-time systems. Our algorithm relies on SMT solvers and in this paper we focus on piecewise constant control strategies. Our algorithm…
Correct-by-design synthesis provides a principled framework for establishing formal safety guarantees for stochastic multi-agent systems (MAS). However, conventional approaches based on finite abstractions often incur prohibitive…
We propose a variant of the Rapidly Exploring Random Tree Star (RRT$^{\star}$) algorithm to synthesize trajectories satisfying a given spatio-temporal specification expressed in a fragment of Signal Temporal Logic (STL) for linear systems.…
This paper proposes a novel Taylor-Lagrange Control (TLC) method for nonlinear control systems to ensure the safety and stability through Taylor's theorem with Lagrange remainder. To achieve this, we expand a safety or stability function…
This paper aims to introduce a design methodology to stabilize a chain of integrators in a fixed-time with predefined Upper Bound for the Settling-Time (UBST). This approach is based on time-varying gains (time-base generator) that become…
The reactive synthesis problem is to compute a system satisfying a given specification in temporal logic. Bounded synthesis is the approach to bound the maximum size of the system that we accept as a solution to the reactive synthesis…
Balancing safety and performance is one of the predominant challenges in modern control system design. Moreover, it is crucial to robustly ensure safety without inducing unnecessary conservativeness that degrades performance. In this work…