Related papers: Characterizing simulation relations through contro…

Sculptors often deviate from geometric accuracy in order to enhance the appearance of their sculpture. These subtle stylizations may emphasize anatomy, draw the viewer's focus to characteristic features of the subject, or symbolize textures…

This chapter serves as an introduction to systems engineering focused on the broad issues surrounding realizing complex integrated systems. What is a system? We pose a number of possible definitions and perspectives, but leave open the…

Sensor-based reactive and hybrid approaches have proven a promising line of study to address imperfect knowledge in grasping and manipulation. However the reactive approaches are usually tightly coupled to a particular embodiment making…

Symbolic models or abstractions are known to be powerful tools for the control design of cyber-physical systems (CPSs) with logic specifications. In this paper, we investigate a novel learning-based approach to the construction of symbolic…

We present two frameworks for structure-preserving model order reduction of interconnected subsystems, improving tractability of the reduction methods while ensuring stability and accuracy bounds of the reduced interconnected model. Instead…

This paper presents an abstraction-refinement method to synthesize control inputs for a discrete-time piecewise linear system. The controlled system behavior satisfies a finite-word linear-time temporal objective while incurring minimal…

End-to-end approaches to autonomous driving have high sample complexity and are difficult to scale to realistic urban driving. Simulation can help end-to-end driving systems by providing a cheap, safe, and diverse training environment. Yet…

Abstraction is a fundamental tool for reasoning about complex systems. Program abstraction has been utilized to great effect for analyzing deterministic programs. At the heart of program abstraction is the relationship between a concrete…

At its core, abstraction is the process of generalizing from specific instances to broader concepts or models, with the primary objective of reducing complexity while preserving properties essential to the intended purpose. It is…

The requirement for identifying accurate system representations has not only been a challenge to fulfill, but it has compromised the scalability of formal methods, as the resulting models are often too complex for effective decision making…

This paper proposes a method to synthesise controllers for cyber-physical systems such that the controlled systems satisfy specifications given as linear temporal logic formulas. The focus is on systems with disturbance, where future states…

Real-time control systems often require dedicated hardware and software, including real-time operating systems, while many systems are available for off-line computing, mainly based on standard system units (PCs), standard network…

With the increasing ubiquity of safety-critical autonomous systems operating in uncertain environments, there is a need for mathematical methods for formal verification of stochastic models. Towards formally verifying properties of…

The development and maintenance of cloud software is complicated by complex but crucial technological requirements that are tightly coupled with each other and with the softwares actual business functionality. Consequently, the complexity…

Control was from its very beginning an important concept in cybernetics. Later on, with the works of W. Ross Ashby, for example, biological concepts such as adaptation were interpreted in the light of cybernetic systems theory. Adaptation…

We present assume-guarantee contracts for continuous-time linear dynamical systems with inputs and outputs. These contracts are used to express specifications on the dynamic behaviour of a system. Contrary to existing approaches, we use…

In computer science, there is a distinction between closed systems, whose behavior is totally determined in advance, and open systems, that are systems maintaining a constant interaction with an unspecified environment. Closed systems are…

Simulation is a central tool for scalable robot learning, but its effectiveness depends on the quality of object assets. While modern 3D datasets provide rich geometric and kinematic representations, they typically lack the physical…

Safety verification of robot applications is extremely challenging due to the complexity of the environment that a robot typically operates in. Formal verification with model-checking provides guarantees but it may often take too long or…

Accurate representation of interfaces and flux exchange is vital for coupled multiphysics simulations across a broad range of applications. Currently, coupling approaches are limited by the underlying discretization or to specific physical…