Related papers: Spatiotemporal Tubes based Controller Synthesis ag…
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…
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…
In this paper, we present a control framework for a general class of control-affine nonlinear systems under spatiotemporal and input constraints. Specifically, the proposed control architecture addresses the problem of reaching a given…
Perception-related tasks often arise in autonomous systems operating under partial observability. This work studies the problem of synthesizing optimal policies for complex perception-related objectives in environments modeled by partially…
Control synthesis from temporal logic specifications has gained popularity in recent years. In this paper, we use a model predictive approach to control discrete time linear systems with additive bounded disturbances subject to constraints…
Finite-state models of control systems were proposed by several researchers as a convenient mechanism to synthesize controllers enforcing complex specifications. Most techniques for the construction of such symbolic models have two main…
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…
Non-overshooting stabilization is a form of safe control where the setpoint chosen by the user is at the boundary of the safe set. Exponential non-overshooting stabilization, including suitable extensions to systems with deterministic and…
We investigate the control synthesis problem for continuous-time time-varying nonlinear systems with disturbance under a class of multiple reach-avoid (MRA) tasks. Specifically, the MRA task requires the system to reach a series of target…
This paper revisits a classical challenge in the design of stabilizing controllers for nonlinear systems with a norm-bounded input constraint. By extending Lin-Sontag's universal formula and introducing a generic (state-dependent) scaling…
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 an algorithm for robust model predictive control with consideration of uncertainty and safety constraints. Our framework considers a nonlinear dynamical system subject to disturbances from an unknown but bounded uncertainty set.…
In this paper, we present a novel method to drive a nonlinear system to a desired state, with limited a priori knowledge of its dynamic model: local dynamics at a single point and the bounds on the rate of change of these dynamics. This…
The present work deals with quantitative two-phase reach-avoid problems on nonlinear control systems. This class of optimal control problem requires the plant's state to visit two (rather than one) target sets in succession while minimizing…
This paper deals with the tracking control problem for a very simple class of unknown nonlinear systems. In this paper, we presents a design strategy for tracking control of time-varying state constrained nonlinear systems in an adaptive…
Partial observability and controllability are two well-known issues in test-case synthesis for interactive systems. We address the problem of partial control in the synthesis of test cases from timed-automata specifications. Building on the…
In this paper, a method to synthesize controllers using finite time convergence control barrier functions guided by linear temporal logic specifications for continuous time multi-agent dynamical systems is proposed. Finite time convergence…
Ensuring nominal asymptotic stability of the Nonlinear Model Predictive Control controller is not trivial. Stabilizing ingredients such as terminal penalty term and terminal region are crucial in establishing the asymptotic stability.…
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…
In this paper, we study the control properties of a new class of stochastic ensemble systems that consists of families of random variables. These random variables provide an increasingly good approximation of an unknown discrete,…