Related papers: Spatiotemporal Tubes based Controller Synthesis ag…
This study presents a multi-agent negotiation-based framework to obtain collision-free paths while performing prescribed-time reach-avoid-stay (RAS) tasks for agents with unknown dynamics and bounded disturbance. By employing spatiotemporal…
Linear temporal logic (LTL) has recently been adopted as a powerful formalism for specifying complex, temporally extended tasks in multi-task reinforcement learning (RL). However, learning policies that efficiently satisfy arbitrary…
This paper presents an indirect data-driven output feedback controller synthesis for nonlinear systems, leveraging Structured State-space Models (SSMs) as surrogate models. SSMs have emerged as a compelling alternative in modelling…
In this paper, we focus on the synthesis of secure timed systems which are modelled as timed automata. The security property that the system must satisfy is a non-interference property. Intuitively, non-interference ensures the absence of…
In this paper, we present a control synthesis framework for a general class of nonlinear, control-affine systems under spatiotemporal and input constraints. First, we study the problem of fixed-time convergence in the presence of input…
This paper introduces a class of time-varying controllers for Euler-Lagrange systems such that the convergence occurs at an arbitrary finite time, independently of initial conditions, and free of chattering. The proposed controller is based…
This paper investigates the problem of designing control policies that satisfy high-level specifications described by signal temporal logic (STL) in unknown, stochastic environments. While many existing works concentrate on optimizing the…
This paper introduces a novel robust closed-form control law to handle time-varying hard and soft constraints in uncertain high-relative-degree nonlinear MIMO systems. These constraints represent spatiotemporal specifications in mechanical…
We propose an adversarial, time-varying test-synthesis procedure for safety-critical systems without requiring specific knowledge of the underlying controller steering the system. From a broader test and evaluation context, determination of…
We introduce a prototype tool strategFTO addressing the verification of a security property in critical software. We consider a recent definition of timed opacity where an attacker aims to deduce some secret while having access only to the…
In this paper we examine how Lagrangian techniques can be used to compute underapproximations and overapproximation of the finite-time horizon, stochastic reach-avoid level sets for discrete-time, nonlinear systems. This approach is…
We study the problem of learning controllers for discrete-time non-linear stochastic dynamical systems with formal reach-avoid guarantees. This work presents the first method for providing formal reach-avoid guarantees, which combine and…
The controllability problem for nonlinear control systems with one-dimensional control of the form $ dx/dt=a(x)+B(x)\beta(x,u)$ is considered, where $a(x)$ is an $n$-dimensional vector function, $B(x)$ is an $(n\times m)$-matrix, and…
This letter presents a unified framework for the design of prescribed-time controllers under time-varying input and state constraints for normal-form unknown nonlinear systems with uncertain input gain. The proposed approach is based on a…
Efficiently handling time-triggered and possibly nondeterministic switches for hybrid systems reachability is a challenging task. In this paper we present an approach based on conservative set-based enclosure of the dynamics that can handle…
This paper aims to synthesize a reachability controller for an unknown dynamical system. We first learn the unknown system using Gaussian processes and the (probabilistic) guarantee on the learned model. Then we use the funnel-based…
This paper studies the synthesis of control policies for an agent that has to satisfy a temporal logic specification in a partially observable environment, in the presence of an adversary. The interaction of the agent (defender) with the…
This paper addresses decentralized control of large-scale heterogeneous multi-agent systems subject to bounded external disturbances and limited communication, with the objective of satisfying cooperative Signal Temporal Logic (STL)…
In this paper, we propose a control synthesis method for signal temporal logic (STL) specifications with neural networks (NNs). Most of the previous works consider training a controller for only a given STL specification. These approaches,…
We propose a tube-based guaranteed cost model predictive controller considering a homothetic formulation for constrained linear systems subject to multiplicative structured norm-bounded uncertainties. It provides an upper bound to the…