Related papers: CESAR: Control Envelope Synthesis via Angelic Refi…
We present an abstraction and refinement methodology for the automated controller synthesis to enforce general predefined specifications. The designed controllers require quantized (or symbolic) state information only and can be interfaced…
We study how to safely control nonlinear control-affine systems that are corrupted with bounded non-stochastic noise, i.e., noise that is unknown a priori and that is not necessarily governed by a stochastic model. We focus on safety…
This paper considers the problem of decentralized analysis and control synthesis to verify and ensure properties like stability and dissipativity of a large-scale networked system comprised of linear subsystems interconnected in an…
Controller synthesis is a theoretical approach to the systematic design of discrete event systems. It constructs a controller to provide feedback and control to the system, ensuring it meets specified control specifications. Traditional…
In this thesis, the synthesis of correct-by-construction controllers for robots assisting in Search and Rescue (SAR) is considered. In recent years, the development of robots assisting in disaster mitigation in urban environments has been…
Synthesizing controllers that enforce both safety and actuator constraints is a central challenge in the design of cyber-physical systems. State-of-the-art reachability methods based on zonotopes deliver impressive scalability, yet no…
In this paper, we present an approach for designing correct-by-design controllers for cyber-physical systems composed of multiple dynamically interconnected uncertain systems. We consider networked discrete-time uncertain nonlinear systems…
We present a new method for the automated synthesis of safe and robust Proportional-Integral-Derivative (PID) controllers for stochastic hybrid systems. Despite their widespread use in industry, no automated method currently exists for…
In this paper, we present an algorithm for synthesizing certificates---so-called barrier certificates---for safety of hybrid dynamical systems. Unlike the usual approach of using constraint solvers to compute the certificate from the system…
Many Embedded Systems are indeed Software Based Control Systems (SBCSs), that is control systems whose controller consists of control software running on a microcontroller device. This motivates investigation on Formal Model Based Design…
Controller synthesis is in essence a case of model-based planning for non-deterministic environments in which plans (actually ''strategies'') are meant to preserve system goals indefinitely. In the case of supervisory control environments…
The paper addresses the issue of reliability of complex embedded control systems in the safety-critical environment. In this paper, we propose a novel approach to design controller that (i) guarantees the safety of nonlinear physical…
In the timeline-based approach to planning, the evolution over time of a set of state variables (the timelines) is governed by a set of temporal constraints. Traditional timeline-based planning systems excel at the integration of planning…
We expose in a tutorial fashion the mechanisms which underlie the synthesis of optimization algorithms based on dynamic integral quadratic constraints. We reveal how these tools from robust control allow to design accelerated gradient…
The paper addresses an optimal control problem for a perturbed sweeping process of the rate-independent hysteresis type described by a controlled "play and stop" operator with separately controlled perturbations. This problem can be reduced…
Large-scale chemical plants rely on distributed process control systems (PCS) comprising numerous processing units, communication modules, and I/O devices interconnected via industrial networks. The design of a cost-efficient and reliable…
This paper develops a novel control synthesis method for safe stabilization of control-affine systems as a Differential Complementarity Problem (DCP). Our design uses a control Lyapunov function (CLF) and a control barrier function (CBF) to…
With the increasing use of neural policies in control systems, ensuring their safety and reliability has become a critical software engineering task. One prevalent approach to ensuring the safety of neural policies is to deploy programmatic…
Successfully synthesizing controllers for complex dynamical systems and specifications often requires leveraging domain knowledge as well as making difficult computational or mathematical tradeoffs. This paper presents a flexible and…
Perception-related tasks often arise in autonomous systems operating under partial observability. This work studies the problem of synthesizing optimal policies for complex perception-related objectives in environments modeled by partially…