Related papers: Type-Based Verification of Delegated Control in Hy…
We develop a hybrid control approach for robot learning based on combining learned predictive models with experience-based state-action policy mappings to improve the learning capabilities of robotic systems. Predictive models provide an…
This paper studies the tracking control problem of networked and quantized control systems under both multiple networks and event-triggered mechanisms. Multiple networks are to connect the plant and reference system with decentralized…
In this report, we aim at establishing proper ways for model checking the global security of distributed systems, which are designed consisting of set of localised security policies that enforce specific issues about the security expected.…
This paper investigates a distributed formation control problem for networked robots, with the global objective of achieving predefined time-varying formations in an environment with obstacles. A novel fixed-time behavioral approach is…
Type and effect systems are a tool to analyse statically the behaviour of programs with effects. We present a proof based on the so called reducibility candidates that a suitable stratification of the type and effect system entails the…
We present a decentralized, agent agnostic, and safety-aware control framework for human-robot collaboration based on Virtual Model Control (VMC). In our approach, both humans and robots are embedded in the same virtual-component-shaped…
This research proposes a distributed switching control to secure multi-robot systems in the presence of cyberattacks. Two major types of cyberattack are considered: deception attack and denial of service (DoS) attack, which compromise the…
Designing and implementing distributed systems correctly can be quite challenging. Although these systems are often accompanied by formal specifications that are verified using model-checking techniques, a gap still exists between the…
The impulse-based discrete feedback control has been proposed in previous work for the second-order motion systems with damping uncertainties. The sate-dependent discrete impulse action takes place at zero crossing of one of both states,…
Trust in electoral processes is fundamental for democracies. Further, the identity management of citizen data is crucial, because final tallies cannot be guaranteed without the assurance that every final vote was cast by an eligible voter.…
Motivated by the recent interest in formal methods-based control of multi-agent systems, we adopt a bottom-up approach. Each agent is subject to a local signal temporal logic task that may depend on other agents behavior. These dependencies…
A verification method for distributed systems based on decoupling forward and backward behaviour is proposed. This method uses an event structure based algorithm that, given a CCS process, constructs its causal compression relative to a…
Distributed control algorithms are known to reduce overall computation time compared to centralized control algorithms. However, they can result in inconsistent solutions leading to the violation of safety-critical constraints. Inconsistent…
The spread of autonomous systems into safety-critical areas has increased the demand for their formal verification, not only due to stronger certification requirements but also to public uncertainty over these new technologies. However, the…
The presence of a tight integration between the discrete control (the "cyber") and the analog environment (the "physical")---via sensors and actuators over wired or wireless communication networks---is the defining feature of cyber-physical…
Grid-interactive building control is a challenging and important problem for reducing carbon emissions, increasing energy efficiency, and supporting the electric power grid. Currently researchers and practitioners are confronted with a…
Robotic research over the last decades have lead us to different architectures to automatically synthesise discrete event controllers and implement these motion and task plans in real-world robot scenarios. However, these architectures…
As future energy systems become more decentralised due to the integration of renewable energy resources and storage technologies, several autonomous energy management and peer-to-peer trading mechanisms have been recently proposed for the…
Falsification of hybrid dynamical systems remains challenging due to mode-dependent dynamics and discrete transitions. In this work, we propose a surrogate-based falsification approach that enables hybrid systems by learning a…
Verifying the correct behavior of robots in contact tasks is challenging due to model uncertainties associated with contacts. Standard methods for testing often fall short since all (uncountable many) solutions cannot be obtained. Instead,…