Related papers: A New Hybrid Automaton Framework with Partial Diff…

We introduce the use of harmonic analysis to decompose the state space of symmetric robotic systems into orthogonal isotypic subspaces. These are lower-dimensional spaces that capture distinct, symmetric, and synergistic motions. For linear…

In this paper we study the representation of partial differential equations (PDEs) as abstract differential-algebraic equations (DAEs) with dissipative Hamiltonian structure (adHDAEs). We show that these systems not only arise when there…

Hybrid dynamical systems, which include continuous flow and discrete mode switching, can model robotics tasks like legged robot locomotion. Model-based methods usually depend on predefined gaits, while model-free approaches lack explicit…

Simulation of stochastic spatially-extended systems is a challenging problem. The fundamental quantities in these models are individual entities such as molecules, cells, or animals, which move and react in a random manner. In big systems,…

Effective control and prediction of dynamical systems often require appropriate handling of continuous-time and discrete, event-triggered processes. Stochastic hybrid systems (SHSs), common across engineering domains, provide a formalism…

We extend the definition of a Stochastic Hybrid Automaton (SHA) to overcome limitations that make it difficult to use for on-line control. Since guard sets do not specify the exact event causing a transition, we introduce a clock structure…

In this paper we present pddl+, a planning domain description language for modelling mixed discrete-continuous planning domains. We describe the syntax and modelling style of pddl+, showing that the language makes convenient the modelling…

Stochastic simulation methods can be applied successfully to model exact spatio-temporally resolved reaction-diffusion systems. However, in many cases, these methods can quickly become extremely computationally intensive with increasing…

Mixed dimensional partial differential equations (PDEs) are equations coupling unknown fields defined over domains of differing topological dimension. Such equations naturally arise in a wide range of scientific fields including geology,…

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…

The framework of Hybrid automata, introduced by Alur, Courcourbetis, Henzinger, and Ho, provides a formal modeling and analysis environment to analyze the interaction between the discrete and the continuous parts of cyber-physical systems.…

We define partial differential (PD in the following), i.e., field theoretic analogues of Hamiltonian systems on abstract symplectic manifolds and study their main properties, namely, PD Hamilton equations, PD Noether theorem, PD Poisson…

Hybrid automata are a natural framework for modeling and analyzing systems which exhibit a mixed discrete continuous behaviour. However, the standard operational semantics defined over such models implicitly assume perfect knowledge of the…

Formal design of embedded and cyber-physical systems relies on mathematical modeling. In this paper, we consider the model class of hybrid automata whose dynamics are defined by affine differential equations. Given a set of time-series…

This paper establishes a general framework for describing hybrid dynamical systems which is particularly suitable for numerical simulation. In this context, the data structures used to describe the sets and functions which comprise the…

This overview focuses on the notion of partial dynamical symmetry (PDS), for which a prescribed symmetry is obeyed by a subset of solvable eigenstates, but is not shared by the Hamiltonian. General algorithms are presented to identify…

Reaction-diffusion models are used to describe systems in fields as diverse as physics, chemistry, ecology and biology. The fundamental quantities in such models are individual entities such as atoms and molecules, bacteria, cells or…

We discuss a hierarchy of broken symmetries with special emphasis on partial dynamical symmetries (PDS). The latter correspond to a situation in which a non-invariant Hamiltonian accommodates a subset of solvable eigenstates with good…

In collaborative perception, an agent's performance can be degraded by heterogeneity arising from differences in model architecture or training data distributions. To address this challenge, we propose HyDRA (Hybrid Domain-Aware Robust…

Solving partial differential equations (PDEs) on complex domains can present significant computational challenges. The Diffuse Domain Method (DDM) is an alternative that reformulates the partial differential equations on a larger, simpler…