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

Many controllers for legged robotic systems leverage open- or closed-loop control at discrete hybrid events to enhance stability. These controllers appear in several well studied phenomena such as the Raibert stepping controller, paddle…

This paper addresses the problem of position- and orientation-based formation control of a class of second-order nonlinear multi-agent systems in a $3$D workspace with obstacles. More specifically, we design a decentralized control protocol…

To develop IoT and/or CSP systems, we need consider both continuous data from physical world and discrete data in computer systems. Such a system is called a hybrid system. Because of density of continuous data, it is not easy to do…

Interaction models describe the exchange of messages between the different components of distributed systems. We have previously defined a small-step operational semantics for interaction models. The paper extends this work by presenting an…

This paper investigates a sample-based solution to the hybrid mode control problem across non-differentiable and algorithmic hybrid modes. Our approach reasons about a set of hybrid control modes as an integer-based optimization problem…

We extend a semantic verification framework for hybrid systems with the Isabelle/HOL proof assistant by an algebraic model for hybrid program stores, a shallow expression model for hybrid programs and their correctness specifications, and…

The complexity of digital embedded systems has been increasing in different safety-critical applications such as industrial automation, process control, transportation, and medical digital devices. The correct operation of these systems…

Distributed systems have become increasingly prevalent in the software industry. Due to their intrinsic complexity, much research has focused on the verification of their behaviour. An active research line is around behaviour models that…

Due to the increasing complexity of distributed systems, security testing is becoming increasingly critical in insuring reliability of such systems in relation to their security requirements. . To challenge this issue, we rely in this…

Models play an essential role in the design process of cyber-physical systems. They form the basis for simulation and analysis and help in identifying design problems as early as possible. However, the construction of models that comprise…

Implementing a component-based system in a distributed way so that it ensures some global constraints is a challenging problem. We consider here abstract specifications consisting of a composition of components and a controller given in the…

We investigate the coordination and control problems of distributed discrete event systems that are composed of multiple subsystems subject to potential actuator and/or sensor faults. We model actuator faults as local controllability loss…

This paper addresses the problem of distance- and orientation-based formation control of a class of second-order nonlinear multi-agent systems in 3D space, under static and undirected communication topologies. More specifically, we design a…

Deformable objects manipulation can benefit from representations that seamlessly integrate vision and touch while handling occlusions. In this work, we present a novel approach for, and real-world demonstration of, multimodal visuo-tactile…

Todays industrial control systems consist of tightly coupled components allowing adversaries to exploit security attack surfaces from the information technology side, and, thus, also get access to automation devices residing at the…

With an increasing use of data-driven models to control robotic systems, it has become important to develop a methodology for validating such models before they can be deployed to design a controller for the actual system. Specifically, it…

Deployment of distributed systems sets high requirements for procedures and tools for the complex testing of these systems. This work introduces a formal four-layered model for test generation mission on the basis of the component-based…

This paper presents a technique which exploits the occurrence of certain events as observed by different sensors, to detect and classify objects. This technique explores the extent of dependence between features being observed by the…

In this paper we give an overview of results on the analysis of parametric linear hybrid automata, and of systems of similar linear hybrid automata: We present possibilities of describing systems with a parametric (i.e. not explicitly…

In this paper, we explore the conditions for asymptotic stability of the hybrid closed-loop system resulting from the interconnection of a nonlinear plant, an intelligent sensor that generates finite-time convergent estimates of the plant…