Related papers: Type-Based Verification of Delegated Control in Hy…

This paper presents a decentralized hybrid supervisory control approach for a team of unmanned helicopters that are involved in a leader-follower formation mission. Using a polar partitioning technique, the motion dynamics of the follower…

Industries such as flexible manufacturing and home care will be transformed by the presence of robotic assistants. Assurance of safety and functional soundness for these robotic systems will require rigorous verification and validation. We…

Symbolic models have been used as the basis of a systematic framework to address control design of several classes of hybrid systems with sophisticated control objectives. However, results available in the literature are not concerned with…

Recently we studied communication delay in distributed control of untimed discrete-event systems based on supervisor localization. We proposed a property called delay-robustness: the overall system behavior controlled by distributed…

Teams of Unmanned Aerial Vehicles (UAVs) form typical networked cyber-physical systems that involve the interaction of discrete logic and continuous dynamics. This paper presents a hybrid supervisory control framework for the…

Real world systems of interest often feature interactions between discrete and continuous dynamics. Various hybrid system formalisms have been used to model and analyze this combination of dynamics, ranging from mathematical descriptions,…

We present a novel vision-based control method to make a group of ground mobile robots achieve a specified formation shape with unspecified size. Our approach uses multiple aerial control units equipped with downward-facing cameras, each…

This paper presents the validation of shared control strategies for critical maneuvers in automated driving systems. Shared control involves collaboration between the driver and automation, allowing both parties to actively engage and…

Distributed model predictive control (DMPC) is a flexible and scalable feedback control method applicable to a wide range of systems. While the stability analysis of DMPC is quite well understood, there exist only limited implementation…

In this paper, we present a mechanism for building hybrid system observers to differentiate between specific positions of the hybrid system. The mechanism is designed through inferring metric temporal logic (MTL) formulae from simulated…

In this paper, we present the design and implementation of a robust motion formation distributed control algorithm for a team of mobile robots. The primary task for the team is to form a geometric shape, which can be freely translated and…

An event-based state estimation approach for reducing communication in a networked control system is proposed. Multiple distributed sensor-actuator-agents observe a dynamic process and sporadically exchange their measurements and inputs…

This paper studies the tracking control problem of networked multi-agent systems under both multiple networks and event-triggered mechanisms. Multiple networks are to connect multiple agents and reference systems with decentralized…

This paper addresses active state estimation with a team of robotic sensors. The states to be estimated are represented by spatially distributed, uncorrelated, stationary vectors. Given a prior belief on the geographic locations of the…

Safe operation of multi-robot systems is critical, especially in communication-degraded environments such as underwater for seabed mapping, underground caves for navigation, and in extraterrestrial missions for assembly and construction. We…

Model checking is an automatic verification technique to verify hardware and software systems. However it suffers from state-space explosion problem. In this paper we address this problem in the context of cryptographic protocols by…

The safe control of multi-robot swarms is a challenging and active field of research, where common goals include maintaining group cohesion while simultaneously avoiding obstacles and inter-agent collision. Building off our previously…

In this paper, we propose a system-level approach for verifying the safety of neural network controlled systems, combining a continuous-time physical system with a discrete-time neural network based controller. We assume a generic model for…

Real-time control systems often require dedicated hardware and software, including real-time operating systems, while many systems are available for off-line computing, mainly based on standard system units (PCs), standard network…

Switched systems are known to exhibit subtle (in)stability behaviors requiring system designers to carefully analyze the stability of closed-loop systems that arise from their proposed switching control laws. This paper presents a formal…