Related papers: The Reachability Problem for Neural-Network Contro…
The problem of controlling complex networks is of interest to disciplines ranging from biology to swarm robotics. However, controllability can be too strict a condition, failing to capture a range of desirable behaviors. Herdability, which…
We study pushdown vector addition systems, which are synchronized products of pushdown automata with vector addition systems. The question of the boundedness of the reachability set for this model can be refined into two decision problems…
Iterative imperative programs can be considered as infinite-state systems computing over possibly unbounded domains. Studying reachability in these systems is challenging as it requires to deal with an infinite number of states with…
The design of tracking controllers that closely follow a reference trajectory while ensuring safety and robustness against disturbances is a challenging problem in the control of autonomous systems. In this work, we propose a neural…
The reachability analysis of recursive programs that communicate asynchronously over reliable FIFO channels calls for restrictions to ensure decidability. Our first result characterizes communication topologies with a decidable reachability…
We address the problem of checking state reachability for programs running under Total Store Order (TSO). The problem has been shown to be decidable but the cost is prohibitive, namely non-primitive recursive. We propose here to give up…
Enabling reaching capabilities in highly redundant continuum robot arms is an active area of research. Existing solutions comprise of task-space controllers, whose proper functioning is still limited to laboratory environments. In contrast,…
We study the controller implementability problem, which seeks to determine if a controller can make the closed-loop behavior of a given plant match that of a desired reference behavior. We establish necessary and sufficient conditions for…
In this note, we consider the problem of choosing which nodes of a linear dynamical system should be actuated so that the state transfer from the system's initial condition to a given final state is possible. Assuming a standard complexity…
In this paper we introduce a new network reachability problem where the goal is to find the most reliable path between two nodes in a network, represented as a directed acyclic graph. Individual edges within this network may fail according…
Reachability problems in infinite-state systems are often subject to extremely high complexity. This motivates the investigation of efficient overapproximations, where we add transitions to obtain a system in which reachability can be…
This paper proposes an algorithm capable of driving a system to follow a piecewise linear trajectory without prior knowledge of the system dynamics. Motivated by a critical failure scenario in which a system can experience an abrupt change…
This paper aims to discuss and analyze the potentialities of Recurrent Neural Networks (RNN) in control design applications. The main families of RNN are considered, namely Neural Nonlinear AutoRegressive eXogenous, (NNARX), Echo State…
The problem of controllability of the dynamical state of a network is central in network theory and has wide applications ranging from network medicine to financial markets. The driver nodes of the network are the nodes that can bring the…
In this paper, a method is presented to synthesize neural network controllers such that the feedback system of plant and controller is dissipative, certifying performance requirements such as L2 gain bounds. The class of plants considered…
This paper studies the problem of controlling complex networks, that is, the joint problem of selecting a set of control nodes and of designing a control input to steer a network to a target state. For this problem (i) we propose a metric…
The problem addressed in this paper is to control a plant so as to have its output tracking (a family of) reference commands generated at a remote location and transmitted through a communication channel of finite capacity. The uncertainty…
In this paper, we consider the computational complexity of bounding the reachable set of a Linear Time-Invariant (LTI) system controlled by a Rectified Linear Unit (ReLU) Two-Level Lattice (TLL) Neural Network (NN) controller. In…
Backward reachability analysis computes the set of states that reach a target set under the competing influence of control input and disturbances. Depending on their interplay, the backward reachable set either represents all states that…
In this work, we consider the fundamental problem of reachability analysis over imperative programs with real variables. The reachability property requires that a program can reach certain target states during its execution. Previous works…