Related papers: Abstraction-based Control of Unknown Continuous-Sp…
In this paper, we develop a compositional scheme for the construction of continuous approximations for interconnections of infinitely many discrete-time switched systems. An approximation (also known as abstraction) is itself a…
Efficient performance of a number of engineering systems is achieved through different modes of operation - yielding systems described as "hybrid", containing both real-valued and discrete decision variables. Prominent examples of such…
Conventional physics-based modeling is a time-consuming bottleneck in control design for complex nonlinear systems like autonomous underwater vehicles (AUVs). In contrast, purely data-driven models, though convenient and quick to obtain,…
Controller synthesis techniques for continuous systems with respect to temporal logic specifications typically use a finite-state symbolic abstraction of the system model. Constructing this abstraction for the entire system is…
Automated synthesis of correct-by-construction controllers for autonomous systems is crucial for their deployment in safety-critical scenarios. Such autonomous systems are naturally modeled as stochastic dynamical models. The general…
We present a hierarchical control approach for maneuvering an autonomous vehicle (AV) in tightly-constrained environments where other moving AVs and/or human driven vehicles are present. A two-level hierarchy is proposed: a high-level…
This paper presents a compositional framework for the construction of symbolic models for a network composed of a countably infinite number of finite-dimensional discrete-time control subsystems. We refer to such a network as infinite…
This paper proposes a method to compute finite abstractions that can be used for synthesizing robust hybrid control strategies for nonlinear systems. Most existing methods for computing finite abstractions utilize some global, analytical…
In this paper, we introduce a compositional method for the construction of finite abstractions of interconnected discrete-time switched systems. Particularly, we use a notion of so-called alternating simulation function as a relation…
Data-driven control offers a powerful alternative to traditional model-based methods, particularly when accurate system models are unavailable or prohibitively complex. While existing data-driven control methods primarily aim to construct…
This paper studies the construction of dynamic symbolic abstractions for nonlinear control systems via dynamic quantization. Since computational complexity is a fundamental problem in the use of discrete abstractions, a dynamic quantizer…
In this paper, we propose a compositional approach to construct opacity-preserving finite abstractions (a.k.a symbolic models) for networks of discrete-time nonlinear control systems. Particularly, we introduce new notions of simulation…
We propose a multi-scale approach for computing abstractions of dynamical systems, that incorporates both local and global optimal control to construct a goal-specific abstraction. For a local optimal control problem, we not only design the…
Stochastic switched systems are a relevant class of stochastic hybrid systems with probabilistic evolution over a continuous domain and control-dependent discrete dynamics over a finite set of modes. In the past few years several different…
While trade-offs between modeling effort and model accuracy remain a major concern with system identification, resorting to data-driven methods often leads to a complete disregard for physical plausibility. To address this issue, we propose…
In this paper, we consider the problem of verifying pre-opacity for discrete-time control systems. Pre-opacity is an important information-flow security property that secures the intention of a system to execute some secret behaviors in the…
Symbolic control is an abstraction-based controller synthesis approach that provides, algorithmically, certifiable-by-construction controllers for cyber-physical systems. Symbolic control approaches usually assume that full-state…
In this work, we introduce a compositional framework for the construction of finite abstractions (a.k.a. symbolic models) of interconnected discrete-time control systems. The compositional scheme is based on the joint dissipativity-type…
This paper is concerned with a compositional approach for constructing abstractions of interconnected discrete-time stochastic control systems. The abstraction framework is based on new notions of so-called stochastic simulation functions,…
In this paper, we consider the problem of synthesizing correct-by-construction controllers for discrete-time dynamical systems. A commonly adopted approach in the literature is to abstract the dynamical system into a Finite Transition…