Related papers: CESAR: Control Envelope Synthesis via Angelic Refi…

We propose a new method for controlled system synthesis on non-deterministic automata, which includes the synthesis for deadlock-freeness, as well as invariant and reachability expressions. Our technique restricts the behavior of a…

Design of optimal distributed linear feedback controllers to achieve a desired aggregate behavior, while simultaneously satisfying state and input constraints, is a challenging but important problem in many applications. System level…

We present a real-time-capable set-based framework for closed-loop predictive control of autonomous systems using tools from computational geometry, dynamic programming, and convex optimization. The control architecture relies on the…

Matching promises transparent causal inferences for observational data, making it an intuitive approach for many applications. In practice, however, standard matching methods often perform poorly compared to modern approaches such as…

Ordinal automata are used to model physical systems with Zeno behavior. Using automata and games techniques we solve a control problem formulated and left open by Demri and Nowak in 2005. It involves partial observability and a new…

Entanglement generation can be robust against noise in approaches that deliberately incorporate dissipation into the system dynamics. The presence of additional dissipation channels may, however, limit fidelity and speed of the process.…

The automatic synthesis of a policy through reinforcement learning (RL) from a given set of formal requirements depends on the construction of a reward signal and consists of the iterative application of many policy-improvement steps. The…

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…

This paper presents a method for the simultaneous synthesis of a barrier certificate and a safe controller for discrete-time nonlinear stochastic systems. Our approach, based on piecewise stochastic control barrier functions, reduces the…

This paper proposes a finitely terminating algorithm to solve reach-and-stay control problems for nonlinear systems. The algorithm is guaranteed to return a control strategy if the specification is robustly realizable. Such a feature is…

We consider the problem of securing a given control loop implementation of a cyber-physical system (CPS) in the presence of Man-in-the-Middle attacks on data exchange between plant and controller over a compromised network. To this end,…

H-infinity optimal control and estimation are addressed for a class of systems governed by partial differential equations with bounded input and output operators. Diffusion equations are an important example in this class. Explicit formulas…

We present a method for synthesizing controllers to steer trajectories from an initial set to a target set on a finite time horizon. The proposed control synthesis problem is decomposed into two steps. The first step under-approximates the…

Electronic synthesizer sounds are controlled by parameter settings that yield complex timbral characteristics and ADSR envelopes, making synthesizer-style audio transfer particularly challenging. Recent approaches to timbre transfer often…

While many robotic tasks, like manipulation and locomotion, are fundamentally based in making and breaking contact with the environment, state-of-the-art control policies struggle to deal with the hybrid nature of multi-contact motion. Such…

We propose an efficient symbolic control synthesis algorithm for equivariant continuous-time dynamical systems to satisfy reach-avoid specifications. The algorithm exploits dynamical symmetries to construct lean abstractions to avoid…

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…

Safety-critical scenario generation is crucial for evaluating autonomous driving systems. However, existing approaches often struggle to balance three conflicting objectives: adversarial criticality, physical feasibility, and behavioral…

This paper considers safe control synthesis for dynamical systems with either probabilistic or worst-case uncertainty in both the dynamics model and the safety constraints. We formulate novel probabilistic and robust (worst-case) control…

Shield synthesis is an approach to enforce a set of safety-critical properties of a reactive system at runtime. A shield monitors the system and corrects any erroneous output values instantaneously. The shield deviates from the given…