Related papers: Backstepping Reach-avoid Controller Synthesis for …

In this paper, we propose an approach for synthesizing provable reach-avoid controllers, which drive a deterministic system operating in an unknown environment to safely reach a desired target set. The approach falls within the reachability…

This letter proposes a novel sampled-data model predictive control framework for continuous control-affine nonlinear systems that provides rigorous reach-avoid and recursive feasibility guarantees under physical constraints. By propagating…

We present a controller synthesis algorithm for reach-avoid problems for piecewise linear discrete-time systems. Our algorithm relies on SMT solvers and in this paper we focus on piecewise constant control strategies. Our algorithm…

Reach-avoid analysis is fundamental to reasoning about the safety and goal-reaching behavior of dynamical systems, and serves as a foundation for specifying and verifying more complex control objectives. This paper introduces a reach-avoid…

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…

A reset controller plays a crucial role in designing hybrid systems. It restricts the initial set and redefines the reset map associated with discrete transitions, in order to guarantee the system to achieve its objective. Reset controller…

In this paper, we consider the problem of controller design using approximately bisimilar abstractions with an emphasis on safety and reachability specifications. We propose abstraction-based approaches to solve both classes of problems. We…

In this paper we propose sufficient conditions to synthesizing reach-avoid controllers for deterministic systems modelled by ordinary differential equations and stochastic systems modeled by stochastic differential equations based on the…

Providing formal guarantees for neural network-based controllers in large-scale interconnected systems remains a fundamental challenge. In particular, using neural certificates to capture cooperative interactions and verifying these…

In the current control design of safety-critical autonomous systems, formal verification techniques are typically applied after the controller is designed to evaluate whether the required properties (e.g., safety) are satisfied. However,…

In recent years, formal methods have been extensively used in the design of autonomous systems. By employing mathematically rigorous techniques, formal methods can provide fully automated reasoning processes with provable safety guarantees…

In this paper we consider the safety verification and safe controller synthesis problems for nonlinear control systems. The Control Barrier Certificates (CBC) approach is proposed as an extension to the Barrier certificates approach. Our…

We study feedback controller synthesis for reach-avoid control of discrete-time, linear time-invariant (LTI) systems with Gaussian process and measurement noise. The problem is to compute a controller such that, with at least some required…

In this paper we investigate the optimal controller synthesis problem, so that the system under the controller can reach a specified target set while satisfying given constraints. Existing model predictive control (MPC) methods learn from a…

Robots are used increasingly often in safety-critical scenarios, such as robotic surgery or human-robot interaction. To ensure stringent performance criteria, formal controller synthesis is a promising direction to guarantee that robots…

The control of complex systems faces a trade-off between high performance and safety guarantees, which in particular restricts the application of learning-based methods to safety-critical systems. A recently proposed framework to address…

Digital control has become increasingly prevalent in modern systems, making continuous-time plants controlled by discrete-time (digital) controllers ubiquitous and crucial across industries, including aerospace, automotive, and…

Model mismatches prevail in real-world applications. Ensuring safety for systems with uncertain dynamic models is critical. However, existing robust safe controllers may not be realizable when control limits exist. And existing methods use…

In this article, the problem of synthesizing switching controllers is considered through the synthesis of a "control certificate". Control certificates include control barrier and Lyapunov functions, which represent control strategies, and…

Complex control systems are often described in a layered fashion, represented as higher-order systems where the inputs appear after a chain of integrators. While Control Barrier Functions (CBFs) have proven to be powerful tools for…