Related papers: Synthesis of Universal Safety Controllers
This paper considers the problem of controller synthesis of signal temporal logic (STL) specifications for large-scale multi-agent systems, where the agents are dynamically coupled and subject to collaborative tasks. A compositional…
We consider a problem on the synthesis of reactive controllers that optimize some a priori unknown performance criterion while interacting with an uncontrolled environment such that the system satisfies a given temporal logic specification.…
The paper presents a novel approach to synthesize robust controllers for nonlinear systems along perturbed trajectories. The approach linearizes the system with respect to a reference trajectory. In contrast to existing methods rooted in…
In many practical scenarios, multi-robot systems are envisioned to support humans in executing complicated tasks within structured environments, such as search-and-rescue tasks. We propose a framework for a multi-robot swarm to fulfill…
Prior work on automatic control synthesis for cyber-physical systems under logical constraints has primarily focused on environmental disturbances or modeling uncertainties, however, the impact of deliberate and malicious attacks has been…
We consider the distributed control synthesis problem for systems with locks. The goal is to find local controllers so that the global system does not deadlock. With no restriction this problem is undecidable even for three processes each…
In this paper we propose dynamic output-feedback controller synthesis methods for discrete-time linear time-invariant systems. The synthesis goal is to achieve dissipativity with respect to a given quadratic supply rate or a given $H_2$…
LTL synthesis -- the construction of a function to satisfy a logical specification formulated in Linear Temporal Logic -- is a 2EXPTIME-complete problem with relevant applications in controller synthesis and a myriad of artificial…
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…
Switching controllers play a pivotal role in directing hybrid systems (HSs) towards the desired objective, embodying a ``correct-by-construction'' approach to HS design. Identifying these objectives is thus crucial for the synthesis of…
Synthesis is the automatic construction of a system from its specification. In classical synthesis algorithms, it is always assumed that the system is "constructed from scratch" rather than composed from reusable components. This, of…
The aim of this work is to address issues where formal specifications cannot be realized on a given dynamical system subjected to a changing environment. Such failures occur whenever the dynamics of the system restrict the robot in such a…
Finite-state controllers (FSCs), such as plans with loops, are powerful and compact representations of action selection widely used in robotics, video games and logistics. There has been steady progress on synthesizing FSCs in deterministic…
Reactive synthesis is a technology for the automatic construction of reactive systems from logical specifications. In these lecture notes, we study different algorithms for the reactive synthesis problem of linear-time temporal logic (LTL).…
A challenging problem for autonomous systems is to synthesize a reactive controller that conforms to a set of given correctness properties. Linear temporal logic (LTL) provides a formal language to specify the desired behavioral properties…
Recent advances in learning-based perception systems have led to drastic improvements in the performance of robotic systems like autonomous vehicles and surgical robots. These perception systems, however, are hard to analyze and errors in…
We propose a method to construct finite-state reactive controllers for systems whose interactions with their adversarial environment are modeled by infinite-duration two-player games over (possibly) infinite graphs. The proposed method…
We propose algorithms for performing model checking and control synthesis for discrete-time uncertain systems under linear temporal logic (LTL) specifications. We construct temporal logic trees (TLT) from LTL formulae via reachability…
Temporal synthesis attempts to construct reactive programs that satisfy a given declarative (LTL) formula. Practitioners have found it challenging to work exclusively with declarative specifications, and have found languages that combine…
In this paper, we propose a formal controller synthesis approach for integrating a population of plug-in electric vehicles in frequency regulation of power systems. This approach is the first application of formal methods to the smart grids…